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Bio-inspired Robot Design Considering Load-Bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles

  • Andrew Jansen
  • Kevin Sebastian Luck
  • Joseph Campbell
  • Heni Ben Amor
  • Daniel M. AukesEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10384)

Abstract

This work explores the physical implications of variation in fin shape and orientation that correspond to ontogenetic changes observed in sea turtles. Through the development of a bio-inspired robotic platform – CTurtle – we show that (1) these ontogenetic changes apparently occupy stable extrema for either load-bearing or high-velocity movement, and (2) mimicry of these variations in a robotic system confer greater load-bearing capacity and energy efficiency, at the expense of velocity (or vice-versa). A possible means of adapting to load conditions is also proposed. We endeavor to provide these results as part of a theoretical framework integrating biological inquiry and inspiration within an iterative design cycle based on laminate robotics.

Keywords

Bio-inspired robots Turtles Locomotion Mobile robots Kinematics Rapid-prototyping Laminates Granular media Fabrication Design 

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Andrew Jansen
    • 1
  • Kevin Sebastian Luck
    • 2
  • Joseph Campbell
    • 2
  • Heni Ben Amor
    • 2
  • Daniel M. Aukes
    • 3
    Email author
  1. 1.School of Life SciencesTempeUSA
  2. 2.The School of Computing, Informatics, and Decision Systems EngineeringTempeUSA
  3. 3.The Polytechnic SchoolArizona State UniversityMesaUSA

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