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/spl trade/, a(More)
In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can(More)
Insect-inspired foot materials can enable robots to walk on surfaces reg less of the direction of gravity, which significantly increases the functi workspace of a compact robot. Previously, Mini-WhegsTM, a small ro that uses four wheel-legs for locomotion, was converted to a wall-wal robot with compliant, conventional-adhesive feet. In this work, the were(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)
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)
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)
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)
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 to(More)