Article
Kinematics of aquatic and terrestrial escape responses in mudskippers.
Department of Biological Sciences, Northern Arizona University, PO Box 5640, Flagstaff, AZ 86011, USA.
Journal of Experimental Biology (impact factor:
3).
12/2004;
207(Pt 23):4037-44.
DOI:10.1242/jeb.01237
pp.4037-44
Source: PubMed
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Citations (0)
- Cited In (1)
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Article: Flipper-driven terrestrial locomotion of a sea turtle-inspired robot
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ABSTRACT: To discover principles of flipper-based terrestrial locomotion we study the mechanics of a hatchling sea turtle-inspired robot, FlipperBot (FBot), during quasi-static movement on granular media. FBot implements a symmetric gait using two servo-motor-driven front limbs with flat-plate flippers and either freely rotating or fixed wrist joints. For a range of gaits, FBot moves with a constant step length. However, for gaits with sufficiently shallow flipper penetration or sufficiently large stroke, per step displacement decreases with each successive step resulting in failure (zero forward displacement) within a few steps. For the fixed wrist, failure occurs when FBot interacts with ground disturbed during previous steps, and measurements reveal that flipper generated forces decrease as per step displacement decreases. The biologically inspired free wrist is less prone to failure, but slip-induced failure can still occur if FBot pitches forward and drives its leading edge into the substrate. In the constant step length regime, kinematic and force-based models accurately predict FBot's motion for free and fixed wrist configurations, respectively. When combined with independent force measurements, models and experiments provide insight into how disturbed ground leads to locomotory failure and help explain differences in hatchling sea turtle performance. S Online supplementary data available from stacks.iop.org/BB/8/026007/mmedia (Some figures may appear in colour only in the online journal)Bioinspiration & Biomimetics 04/2013; 8(8):26007-26007. · 1.95 Impact Factor
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Keywords
aquatic escapes
aquatic responses
calculate intervertebral
central nervous system
escape response
Escape responses
High-speed digital imaging
higher velocity
intervertebral
mudskipper terrestrial
Periophthalmus argentilineatus
previous studies
propulsive phase
rapid completion
record mudskipper escapes
responses
similar maximum velocities
terrestrial environment
terrestrial escapes
terrestrial responses