TY - JOUR
T1 - Pop! Observing and Modeling the Legless Self-righting Jumping Mechanism of Click Beetles
AU - Bolmin, Ophelia
AU - Duan, Chengfang
AU - Urrutia, Luis
AU - Abdulla, Ahmad M.
AU - Hazel, Alexander M.
AU - Alleyne, Marianne
AU - Dunn, Alison C.
AU - Wissa, Aimy
N1 - Publisher Copyright:
© Springer International Publishing AG 2017.
PY - 2017
Y1 - 2017
N2 - Click beetles (Coleoptera: Elateridae) have evolved a jumping mechanism to right themselves when on their dorsal side, without using their legs or any other appendages. This paper describes and analyzes the stages of the click beetle jump using high-speed video recordings and scanning electron micrographs of four beetle species, namely Alaus oculatus, Ampedus nigricollis, Ampedus linteus and Melanotus spp. The body of the click beetle is considered as two masses linked by a hinge. Dynamic and kinematic models of the jump stages are developed. The models were used to calculate the hinge stiffness and the elastic energy stored in the body during the jump. The modeling results show agreement with the experimental values. The derived models provide a framework that will be used for the design of a click beetle inspired self-righting robot.
AB - Click beetles (Coleoptera: Elateridae) have evolved a jumping mechanism to right themselves when on their dorsal side, without using their legs or any other appendages. This paper describes and analyzes the stages of the click beetle jump using high-speed video recordings and scanning electron micrographs of four beetle species, namely Alaus oculatus, Ampedus nigricollis, Ampedus linteus and Melanotus spp. The body of the click beetle is considered as two masses linked by a hinge. Dynamic and kinematic models of the jump stages are developed. The models were used to calculate the hinge stiffness and the elastic energy stored in the body during the jump. The modeling results show agreement with the experimental values. The derived models provide a framework that will be used for the design of a click beetle inspired self-righting robot.
KW - Click beetle inspired robot
KW - Legless jumping
KW - Self-righting robot
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U2 - 10.1007/978-3-319-63537-8_4
DO - 10.1007/978-3-319-63537-8_4
M3 - Conference article
AN - SCOPUS:85145769065
SN - 0302-9743
VL - 10384 LNCS
SP - 35
EP - 47
JO - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
JF - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
T2 - 6th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2017
Y2 - 26 July 2017 through 28 July 2017
ER -