Analysis of a Low Effort Rectilinear Gait for a Snake-Inspired Robot

Author(s):  
James K. Hopkins ◽  
Satyandra K. Gupta

In recent years, snake-inspired locomotion has garnered increasing interest in the bio-inspired robotics community. This positive trend is largely due to the unique and highly effective gaits utilized by snakes to traverse various terrains and obstacles. These gaits make use of a snake’s hyper-redundant body structure to adapt to the terrain and maneuver through tight spaces. Snake-inspired robots utilizing rectilinear motion, one of the primary gaits observed in natural snakes, have demonstrated favorable results on various terrains. However, previous variations of the rectilinear gait were inefficient in cyclic displacement. These gaits generated vertical waves traveling along the length of the robot. Generating these waves required significant joint energy for relatively small horizontal displacements. This paper presents analytical and experimental results for a rectilinear gait, which demonstrates significant linear displacement for relatively low joint effort. The low effort gait functions by propagating a wave through the length of the robot via expansions and contractions of the body segments, propelling the robot platform forward. The low effort rectilinear gait is demonstrated on a robot platform that incorporates high speed linear motion and variable traction through friction. We also report the results of a case study showcasing the practical benefits of the low effort gait.

2014 ◽  
Vol 6 (2) ◽  
Author(s):  
James K. Hopkins ◽  
Satyandra K. Gupta

In recent years, snake-inspired locomotion has garnered increasing interest in the bio-inspired robotics community. This positive trend is largely due to the unique and highly effective gaits utilized by snakes to traverse various terrains and obstacles. These gaits make use of a snake's hyper-redundant body structure to adapt to the terrain and maneuver through tight spaces. Snake-inspired robots utilizing rectilinear motion, one of the primary gaits observed in natural snakes, have demonstrated favorable results on various terrains. However, previous robot designs utilizing rectilinear gaits were slow in speed. This paper presents a design and an exaggerated rectilinear gait concept for a snake-inspired robot which overcomes this limitation. The robot concept incorporates high speed linear motion and a new multimaterial, variable friction force anchoring concept. A series of traction experiments are conducted to determine appropriate materials to be used in the friction anchor (FA) design. The gait concept includes four unique gaits: a forward and a turning gait, which both emphasize speed for the robot; and a forward and turning gait which emphasize traction. We also report a comparative study of the performance of prototype robot designed using these concepts to other published snake-inspired robot designs.


2017 ◽  
Vol 29 (3) ◽  
pp. 528-535
Author(s):  
Yoichi Masuda ◽  
◽  
Masato Ishikawa

[abstFig src='/00290003/08.jpg' width='230' text='The tripedal robot “Martian petit”' ] Significant efforts to simplify the body structure of multi-legged walking robots have been made over the years. Of these, the Spring-Loaded-Inverted-Pendulum (SLIP) model has been very popular, therefore widely employed in the design of walking robots. In this paper, we develop a SLIP-based tripedal walking robot with a focus on the geometric symmetry of the body structure. The proposed robot possesses a compact, light-weight, and compliant leg modules. These modules are controlled by a distributed control law that consists of decoupled oscillators with only local force feedback. As demonstrated through experiments, the simplified design of the robot makes possible the generation of high-speed dynamic locomotion. Despite the structural simplicity of the proposed model, the generation of several gait-patterns is demonstrated. The proposed minimalistic design approach with radial symmetry simplifies the function of each limb in the three-dimensional gait generation of the robot.


KUTTAB ◽  
2020 ◽  
Vol 4 (2) ◽  
Author(s):  
Abdullah Abdullah

This reseach describes creative schools in developing the psychomotor  of students in the Rumah BelajarTanah Merah Bangkalan . this research qualitative research and a case study approach. The results of this research, The creative school designed by Rumah Belajar the Tanah Merah Bangkalan Learning House has the potential to increase the psychomotor domain of children, because edutainment methods, facilities. The facilities a re in accordance with the conditions of children and various outdoor and indoor programs, giving children the freedom to freely create and innovate without having to be too strict by school rules. In essence, they can learn while playing, in creative schools new innovations are needed, especially in teaching methods and classroom design in order to be able to present the fruits of their work from the age of 3 years to the age of 9 years. Besides that, there is a practical learning pattern. The children are directly invited to understand the lesson by practicing the contents of existing lessons. Like understanding the body structure of fish, they are invited to see the fish being dissected in front of the class


Author(s):  
Pramukti Dian Setianingrum ◽  
Farah Irmania Tsani

Backgroud: The World Health Organization (WHO) explained that the number of Hyperemesis Gravidarum cases reached 12.5% of the total number of pregnancies in the world and the results of the Demographic Survey conducted in 2007, stated that 26% of women with live births experienced complications. The results of the observations conducted at the Midwife Supriyati Clinic found that pregnant women with hyperemesis gravidarum, with a comparison of 10 pregnant women who examined their contents there were about 4 pregnant women who complained of excessive nausea and vomiting. Objective: to determine the hyperemesis Gravidarum of pregnant mother in clinic. Methods: This study used Qualitative research methods by using a case study approach (Case Study.) Result: The description of excessive nausea of vomiting in women with Hipermemsis Gravidarum is continuous nausea and vomiting more than 10 times in one day, no appetite or vomiting when fed, the body feels weak, blood pressure decreases until the body weight decreases and interferes with daily activities days The factors that influence the occurrence of Hyperemesis Gravidarum are Hormonal, Diet, Unwanted Pregnancy, and psychology, primigravida does not affect the occurrence of Hyperemesis Gravidarum. Conclusion: Mothers who experience Hyperemesis Gravidarum feel nausea vomiting continuously more than 10 times in one day, no appetite or vomiting when fed, the body feels weak, blood pressure decreases until the weight decreases and interferes with daily activities, it is because there are several factors, namely, hormonal actors, diet, unwanted pregnancy, and psychology.


2017 ◽  
Vol 1 (1) ◽  
pp. 115
Author(s):  
Sudar Kajin

Growth and development of the child have the nature of a thorough and intertwined relationships between components (health, nutrition, and environment). In general, child development can be grouped into three areas, namely cognitive, affective, and psychomotor, whereas biological growth which includes a change in the body structure. Body structure regarding the changes in bone structure, especially the long bones that have an impact on changes in body size, whereas changes in bodily functions is a result of hormonal changes that affect the physiological function .. The purpose of this development are: 1) Describe the product feasibility study التربية الجسمية for grade XI IPA at MAN I Mojokerto 2) Describe the development of learning tools using process skills can improve learning outcomes subjects التربية الجسمية class XI IPA at MAN I Mojokerto From the results of this development can be concluded: 1) results of expert validation and testing, the model approach process skills is fit for use for subjects of Physical Education, Sport and Health, because the products developed are not revised by experts but from the results of questionnaire of students stated that require revision are: (a) Improve the look model or change the learning strategy, and (b) improve the use of resources in implementing the model. 2) Product development learning tools using process skills can improve learning outcomes subjects التربية الجسمية class XI IPA at MAN I Mojokerto. From the class of the test increased learning completeness of Pre and Post Tests Tests are respectively 77.78% increase to 91.67%.


2017 ◽  
Vol 54 ◽  
pp. 112-119
Author(s):  
L. M. Khmelnychy

The estimation of the first-born cows of Ukrainian Black-and-White dairy breed by the exterior type in the leading breeding herds of Cherkassy region by the method of linear classification (n = 566) has been carried out. The results of the evaluated animals by the 100-score system indicate that within the group of traits, the average level of assessment is "good with the plus". The animals have been differed by the good development of group features characterizing the dairy type (82.4 score), body condition (83.5 score), limbs (82.8 score), udder (82.7 score) and overall score (82.8 score). The degree of development 18 descriptive traits of the exterior of cows, has been predicted by the method of linear classification, indicates their significant intraherd variability. Animals have the moderate height, deep body and angularity. The rump angle, the angle of hock joint and the teats length, according to the variability of scores in the range of 17.8–22.4%, have an average optimal development. The level of scores for the rear width (5.9 score), attachment of the fore (6.3 score) and the rear parts (6.0 score) of the udder testifies to their good development. The body structure of the cows-firstborn has a sufficient description of the type traits that determine their milk yield. At the present stage of selection and breeding work due to the use of bull-sires different origins and breeding value on the local population livestock with significant genotype diversity, the degree of influence each of the hereditary factors in the overall variability of linear features has a scientific and practical significance. In our studies, the force of influence conditional bloodiness of the Holstein mother's breed in the overall fraction of variability of linear type traits within the exterior complexes and the overall assessment takes a significant percentage - from 24.9 to 31.5 with a high degree of reliability according to Fischer's criterion. Among the descriptive traits, the proportion of influence the conditional bloodiness of mother, which is confirmed by high statistical confidence, ranges from 14.4 to 19.8%, and refers to the traits important for breeding. The level of coefficients of influence the father's breeding value in the total phenotypic variability for some of the linear traits is high and reliable. First of all it concerns group traits of the exterior, the development of which is determined by the pedigree value of father by 37.1–41.8%, and the overall assessment of type – by 46.6%. The coefficients of influence father's breeding value in most of the descriptive traits have high reliability (P < 0,001). The coefficients of the force of influence father, depending on the heredity of Holstein for the linear traits of almost the same level as his pedigree value. Since in this case the organized factor is purebreed Holstein and crossbreed bulls-sires of domestic selection, the positive role of Holstein heredity in improving the exterior type of cows has been traced realistically. The necessity of linear breeding, as an effective method in the system of dairy cattle breeding, has been substantiated by reliable values of the coefficients of the force of influence of father's line on the linear traits of offspring (3.4–29.5%). Despite the significant variability of coefficients of the force of influence on the linear traits, most of them have a high level of reliability within the evaluated body parts important for selection. The effect of cows belonging to the maternal line on the development of features of the body structure is insignificant and unreliable (5.3–9.2%). In the process of breeding aimed at improving cows of dairy herd by the exterior type, the pedigree value of parents has been assessed according to the method of linear classification of their daughters and their belonging to perspective genealogical formations.


2020 ◽  
Vol 26 ◽  
Author(s):  
Cristian Muresanu ◽  
Siva G. Somasundaram ◽  
Sergey V. Vissarionov ◽  
Liliya V. Gavryushova ◽  
Vladimir N. Nikolenko ◽  
...  

Background: From the evidence of failed injection-based growth factor therapies, it has been proposed that a naturally triggered uninterrupted blood circulation of the growth factors would be superior. Objective: We seek to stimulate discussions and more research about the possibility of using the already available growth factors found in the prostate gland and endometrium by starting a novel educable physiology, known as biological transformations controlled by the mind. Methods: We summarized the stretch-gated ion channel mechanism of the cell membrane, and offer several practical methods that can be applied by anyone, in order to stimulate and enhance the blood circulation of the growth factors from the seminal fluid to sites throughout the body. This details the practical application of our earlier published studies about biological transformations. Results: A previously reported single-patient case study has been extended, adding more from his personal experiences continually improving this novel physiological training and extending the ideas from our earlier findings in detail. Conclusion: The biological transformation findings demonstrate the need additional research to establish the benefits of these natural therapies to repair and rejuvenate tissues affected by various chronic diseases or aging processes.


1959 ◽  
Vol 63 (585) ◽  
pp. 508-512 ◽  
Author(s):  
K. W. Mangler

When a body moves through air at very high speed at such a height that the air can be considered as a continuum, the distinction between sharp and blunt noses with their attached or detached bow shocks loses its significance, since, in practical cases, the bow wave is always detached and fairly strong. In practice, all bodies behave as blunt shapes with a smaller or larger subsonic region near the nose where the entropy and the corresponding loss of total head change from streamline to streamline due to the curvature of the bow shock. These entropy gradients determine the behaviour of the hypersonic flow fields to a large extent. Even in regions where viscosity effects are small they give rise to gradients of the velocity and shear layers with a lower velocity and a higher entropy near the surface than would occur in their absence. Thus one can expect to gain some relief in the heating problems arising on the surface of the body. On the other hand, one would lose farther downstream on long slender shapes as more and more air of lower entropy is entrained into the boundary layer so that the heat transfer to the surface goes up again. Both these flow regions will be discussed here for the simple case of a body of axial symmetry at zero incidence. Finally, some remarks on the flow field past a lifting body will be made. Recently, a great deal of information on these subjects has appeared in a number of reviewing papers so that little can be added. The numerical results on the subsonic flow regions in Section 2 have not been published before.


2021 ◽  
pp. 002087282096742
Author(s):  
Emmison Muleya

Successful social reintegration is critical if we are to reduce recidivism and crime in general. This voice of people article presents a background case for why effective offender reintegration services are key in South Africa, and the Eastern Cape in particular, through an example of the Offender Reintegration programme rendered by the National Institute of Crime Prevention and Reintegration of Offenders (NICRO). Apart from the paucity of literature on offender reintegration, very few voices from people working directly with these former offenders are ever heard. Therefore, this article seeks to address this gap by contributing to the body of knowledge on offender social reintegration.


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