Kathryn A. Daltorio

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– The ability to walk on surfaces regardless of the presence or direction of gravity can significantly increase the mobility of a robot for both terrestrial and space applications. Insects and geckos can provide inspiration for both novel adhesive technology and for the locomotory mechanisms employed during climbing. For this work, Mini-Whegs™, a small(More)
Animals must routinely deal with barriers as they move through their natural environment. These challenges require directed changes in leg movements and posture performed in the context of ever changing internal and external conditions. In particular, cockroaches use a combination of tactile and visual information to evaluate objects in their path in order(More)
ard-onal bot king feet able ive, ter the addition of a tail, changing to off-board power, and widening the feet, the robot is capable of Keywords: small insect-inspired adhesive wall-climbing robots ects ion, their active claws, passive spines, and smooth adhesive pads [2]. Beetles and Tokay geckos adhere to surfaces using patches of microscopic hairs that(More)
Earlier observations had suggested that cockroaches might show multiple patterns of leg coordination, or gaits, but these were not followed by detailed behavioral or kinematic measurements that would allow a definite conclusion. We measured the walking speeds of cockroaches exploring a large arena and found that the body movements tended to cluster at one(More)
—Insights from biology have helped reduce the weight and increase the climbing ability of mobile robots. This paper presents Screenbot, see Fig. 1, a new 126 gram biologically-inspired robot that scales wire mesh substrates using spines. Like insects, it walks with an alternating tripod gait and maintains tension in opposing legs to keep the feet attached(More)
Based on the structural and experimental studies of more than 300 insect species from different lineages, we have developed and characterized a bioinspired polymer material with the ability of multiple glue-free bonding and debonding. The material surface is covered with a pattern of microstructures, which resembles the geometry of tenent hairs previously(More)
accurately predicts that the better design has the body joint axle closer to the center of the robot than to the front wheel-legs for orthogonal exterior transitions for a wide range of initial conditions. In the future, the methods and principles demonstrated here could be used to improve the design of climbing robots for other environments. OBOT mobility(More)
A striking feature of biological pattern generators is their ability to respond immediately to multisensory perturbations by modulating the dwell time at a particular phase of oscillation, which can vary force output, range of motion, or other characteristics of a physical system. Stable heteroclinic channels (SHCs) are a dynamical architecture that can(More)