event
Adaptive oscillatory locomotion in animals and robots—from synchronizing swarms to flapping-wing flyers
Primary tabs
Locomotion in living systems and bio-inspired robots requires the generation and control of oscillatory motion. While a common method to generate motion is through modulation of time-dependent “clock” signals, in this talk we will motivate and study an alternative method of oscillatory generation through autonomous limit-cycle systems. Limit-cycle oscillators for robotics have many desirable properties including adaptive behaviors, entrainment between oscillators, and potential simplification of motion control. I will present several examples of the generation and control of autonomous oscillatory motion in bio-inspired robotics. First, I will describe our recent work to study the dynamics of wingbeat oscillations in “asynchronous” insects and how we can build these behaviors into micro-aerial vehicles. In the second part of this talk I will describe how limit-cycle gait generation in collective robots can enable swarms to synchronize their movement through contact and without communication. More broadly in this talk I hope to motivate why we should look to autonomous dynamical systems for: 1) designing and controlling emergent locomotor behaviors in bio-inspired robotics, and 2) their applications to understand biological locomotion.
Groups
Status
- Workflow Status:Published
- Created By:Shaun Ashley
- Created:03/23/2023
- Modified By:Shaun Ashley
- Modified:09/08/2023
Categories
Keywords
Target Audience