A model-based strategy for quadruped running with differentiated fore- and hind leg morphologies

This article introduces a model-based strategy for a quadruped robot with differentiated fore- and hind-leg ground reaction-force patterns to generate animal-like running behavior. The proposed model comprises a rigid body and two eSLIP legs with dampers. The eccentric-SLIP (eSLIP) model extends the traditional spring-loaded inverted pendulum (SLIP) model by adding a bar to offset the spring direction. The proposed two-leg eSLIP (TL-eSLIP) model’s fore- and hind legs were designed to have the same offset magnitude but in opposite offset directions, producing different braking and thrusting force patterns. The TL-eSLIP model’s reference leg trajectories were designed based on the fixed-point motion of the eSLIP model. Additionally, the legs were clock torque-controlled to modulate leg motion and stabilize the model to follow its natural dynamics. The model’s equations for motion were derived, and the model’s dynamic behavior was simulated and analyzed. The simulation results indicate that the model with leg offsets and in either trotting or pronking has differentiated leg force patterns, and it is more stable and has larger basins of attraction than the model without leg offsets. A quadruped robot was built for experimental validation. The experimental results demonstrate that the robot with differentiated legs ran with differentiated ground reaction force patterns and ran more stably than another robot with the same leg morphology.

Digital Leg Volume Quantification: Precision Assessment of a Novel Workflow Based on Single Capture Three-dimensional Whole-Body Surface Imaging

Whole-body three-dimensional surface imaging (3DSI) offers the ability to monitor morphologic changes in multiple areas without the need to individually scan every anatomical region of interest. One area of application is the digital quantification of leg volume. Certain types of morphology do not permit complete circumferential scan of the leg surface. A workflow capable of precisely estimating the missing data is therefore required. We thus aimed to describe and apply a novel workflow to collect bilateral leg volume measurements from whole-body 3D surface scans regardless of leg morphology and to assess workflow precision. For each study participant, whole-body 3DSI was conducted twice successively in a single session with subject repositioning between scans. Paired samples of bilateral leg volume were calculated from the 3D surface data, with workflow variations for complete and limited leg surface visibility. Workflow precision was assessed by calculating the relative percent differences between repeated leg volumes. A total of 82 subjects were included in this study. The mean relative differences between paired left and right leg volumes were 0.73 ± 0.62% and 0.82 ± 0.65%. The workflow variations for completely and partially visible leg surfaces yielded similarly low values. The workflow examined in this study provides a precise method to digitally monitor leg volume regardless of leg morphology. It could aid in objectively comparing medical treatment options of the leg in a clinical setting. Whole-body scans acquired using the described 3DSI routine may allow simultaneous assessment of other changes in body morphology after further validation.

Effect Of Rear Leg Morphology On Energetics Of A Quadrupedal Robot

Many biomimetic legged robots exist, but their leg designs appear to be arbitrarily chosen. Here, we examine the performance difference between a canine-inspired rear leg in its normal configuration versus the same leg in a transverse-mirrored configuration. A quadrupedal robot was built to test this hypothesis; the robot was successfully able to walk in with both rear-leg configurations. Successful telemetry of energy and localization data was also demonstrated. Both experimental and simulation results confirm that the transverse-mirrored configuration is faster and more efficient. In experiment the robot achieved speeds of up to 0.4 m/s versus 0.33 m/s, and specific resistances of 3.9 versus 5.1 in transverse and normal experiments, respectively. It is suggested here that the transverse-mirrored configuration, which engages the knee spring more than the normal configuration, be used in designs which require higher speeds and greater efficiencies.

Effect Of Rear Leg Morphology On Energetics Of A Quadrupedal Robot

Many biomimetic legged robots exist, but their leg designs appear to be arbitrarily chosen. Here, we examine the performance difference between a canine-inspired rear leg in its normal configuration versus the same leg in a transverse-mirrored configuration. A quadrupedal robot was built to test this hypothesis; the robot was successfully able to walk in with both rear-leg configurations. Successful telemetry of energy and localization data was also demonstrated. Both experimental and simulation results confirm that the transverse-mirrored configuration is faster and more efficient. In experiment the robot achieved speeds of up to 0.4 m/s versus 0.33 m/s, and specific resistances of 3.9 versus 5.1 in transverse and normal experiments, respectively. It is suggested here that the transverse-mirrored configuration, which engages the knee spring more than the normal configuration, be used in designs which require higher speeds and greater efficiencies.

Characterisation of the role and regulation of Ultrabithorax in sculpting fine-scale leg morphology

Hox genes are expressed during embryogenesis and determine the regional identity of animal bodies along the antero-posterior axis. However, they also function post-embryonically to sculpt fine-scale morphology. To better understand how Hox genes are integrated into post-embryonic gene regulatory networks, we further analysed the role and regulation of Ultrabithorax (Ubx) during mesothoracic (T2) leg development in Drosophila melanogaster. Ubx represses leg trichomes in the proximal posterior region of the T2 femur (the so-called naked valley) and we found that it likely does so through activating the expression of microRNA-92a. We also identified a T2 leg enhancer of Ubx that recapitulates the temporal and regional activity of this Hox gene in these appendages. Analysis of motifs in this enhancer predicted that it is bound by Distal-less (Dll) and we found that knockdown of Dll results in the loss of trichomes on the T2 femur. This suggests that while Ubx activates microRNA-92a to repress trichomes in the naked valley region of the proximal femur, Dll may repress Ubx more distally to enable formation of trichomes. Taken together our results provide insights into how Ubx is integrated into a postembryonic gene regulatory network to determine fine-scale leg morphology.

Biarticular muscles in light of template models, experiments and robotics: a review

Leg morphology is an important outcome of evolution. A remarkable morphological leg feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from different fields of research suggest a less coherent understanding of the muscles’ functionality in cyclic, sagittal plane locomotion. We structured this review of biarticular muscle function by reflecting biomechanical template models, human experiments and robotic system designs. Within these approaches, we surveyed the contribution of biarticular muscles to the locomotor subfunctions ( stance , balance and swing ). While mono- and biarticular muscles do not show physiological differences, the reviewed studies provide evidence for complementary and locomotor subfunction-specific contributions of mono- and biarticular muscles. In stance , biarticular muscles coordinate joint movements, improve economy (e.g. by transferring energy) and secure the zig-zag configuration of the leg against joint overextension. These commonly known functions are extended by an explicit role of biarticular muscles in controlling the angular momentum for balance and swing . Human-like leg arrangement and intrinsic (compliant) properties of biarticular structures improve the controllability and energy efficiency of legged robots and assistive devices. Future interdisciplinary research on biarticular muscles should address their role for sensing and control as well as non-cyclic and/or non-sagittal motions, and non-static moment arms.

Comparative Morphological, Ultrastructural, and Molecular Studies of Four Cicadinae Species Using Exuvial Legs

Previous studies have suggested that exuviae can be used for the identification of cicada species, but the precise characteristics that differ among species have not been determined. Thus, we performed the first comparative analyses of the leg morphology, ultrastructure, and mitochondrial DNA sequences of exuviae of four dominant cicada species in Korea, Hyalessa maculaticollis (Motschulsky, 1866), Meimuna opalifera (Walker, 1850), Platypleura kaempferi (Fabricius, 1794) and Cryptotympana atrata (Fabricius, 1775), the source of Cicadidae Periostracum, a well-known traditional medicine. A morphological analysis revealed that the profemur length, femoral tooth angle, and distance between the intermediate and last tooth of the femoral comb are useful characteristics for identification. We also evaluated the usefulness of the size, degree of reflex, and number of spines on the mid-legs and hind legs as diagnostic features. An ultrastructural study showed that Meimuna opalifera has a unique surface pattern on the legs. The sequences obtained using exuviae were identical to previously obtained sequences for adult tissues. Moreover, in a phylogenetic analysis using CO1 sequences, each species formed a monophyletic cluster with high bootstrap support. Accordingly, multiple methodological approaches using exuviae might provide highly reliable identification tools. The integrative data provide useful characteristics for the exuviae-based identification of closely related species and for further taxonomic and systematic studies of Cicadinae.