ALEXANDER, R.McN.: Stability and Manoeuvrability of Terrestrial Vertebrates For a standing animal to be statically stable, a vertical line through its centre of mass must pass through the polygon of support defined by its feet. Statically stable gaits are possible for quadrupeds but do not seem to be used; a discussion of turtles shows why […]
Archives: Abstracts
Low impedance robotics
PRATT, G.: Low impedance robotics Almost all robots, including current walking robots, embody a “stiffer is better” design and control philosophy inherited from the earliest days of numerically controlled machine tools, where position accuracy in the face of unpredictable force disturbances was of paramount importance. This philosophy is so pervasive that is has become part […]
INTEGRATING MECHANICAL AND BIOLOGICAL HYPOTHESES FOR HIGH PERFORMANCE LOCOMOTION
Koditschek, D.E.: INTEGRATING MECHANICAL AND BIOLOGICAL HYPOTHESES FOR HIGH PERFORMANCE LOCOMOTION. Recent years have witnessed a payoff to robotics researchers who have taken the effort to incorporate lessons from biology in their designs. High performance locomotion – legged robots that are both stable and maneuverable over highly varied terrain – now appear to be close […]
Wing architecture and maneuverability in bats a 3-D kinematic approach
SWARTZ, S.M.*; STOCKWELL, E.F.: Wing architecture and maneuverability in bats: a 3-D kinematic approach Both the flight capabilities and the wing structure of extant bats are diverse, and many studies have sought the morphological basis for bat flight performance, including maneuverability. Most analyses of the relationship between wing structure and flight maneuverability have selected descriptors […]
The structure and function of flight trajectories in freely-flying fruit flies
DICKINSON, M.H.: The structure and function of flight trajectories in freely-flying fruit flies. Without buoyancy or a solid horizontal plane for support, stability is of crucial importance to flying animals. Further, for animals that rely on spatially complex sensory cues for food search, mating, or predator avoidance, stability is required not only to keep the […]
Stability versus Maneuverability in Aquatic Locomotion
WEIHS, D.: Stability versus Maneuverability in Aquatic Locomotion The dictionary definition of stability as “Firmly established, not easily to be changed” immediately indicates the conflict between stability and maneuverability in aquatic locomotion. The present paper addresses several issues resulting from these opposing requirements. Classical stability theory for bodies moving in fluids is based on developments […]
Mechanisms for the control of posture and swimming trajectories of fishes
WEBB, P.W.: Mechanisms for the control of posture and swimming trajectories of fishes Fish with a high density ratio can achieve stability on the substratum. Morphological design criteria stabilizing station holding and maximizing current speeds displacing fish are well known, but optimal designs for all criteria are not possible. In the water column, fish are […]
Mechanisms for enhanced maneuverability in organisms of varying flexibility
FISH, F.E.: Mechanisms for enhanced maneuverability in organisms of varying flexibility Maneuverability with respect to turning is critical to the performance of fast swimming animals. Turning is effected by dynamic forces. For many aquatic animals, these forces are dominated by steady non-inertial forces including lift and drag. Animals can use an asymmetrically applied drag to […]
Mechanisms and Implications of Animal Flight Maneuverability
DUDLEY, R.: Mechanisms and Implications of Animal Flight Maneuverability The axial and torsional agility of flying animals derives from interactions between aerodynamic force production and the inertial resistance of the body to translation and rotation, respectively. Anatomical and allometric features of body design thus mediate the rapidity of aerial maneuvers. Both translational and rotational responsiveness […]
Maneuvering and Stability Performance of a Robotic Tuna
ANDERSON, J.M.*; CHHABRA, N.K.: Maneuvering and Stability Performance of a Robotic Tuna The Draper Laboratory Vorticity Control Unmanned Undersea Vehicle (VCUUV) is the first mission-scale, autonomous underwater vehicle which uses vorticity control propulsion and maneuvering. Built as a research platform with which to study the energetics and maneuvering performance of fish-swimming propulsion, the VCUUV is […]
