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Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

Kaushik Jayaram, Robert J Full
JournalProceedings of the National Academy of Sciences, 2016, doi: 10.1073/pnas.1514591113.

Abstract

Cockroach-inspired self-righting robots

Chen Li, R Tian, Will Porter, Zack Hammound, David Strachan-Olsen, Andrew W Kooker, Jake Olivas, Chad Kessens, Kaushik Jayaram, Ronald S Fearing, Robert J Full
PosterSociety of Integrative and Comparative Biology Annual Meeting, 2016.

Abstract

Cockroaches squeezing through crevices

Kaushik Jayaram, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2016.

Abstract

Compressibility enables cockroach-inspired robot to crawl rapidly in confined spaces

Kaushik Jayaram, Robert J Full
Poster International Conference on Robotics and Automation, 2015.

Abstract

Body size limit predictions for mechanically mediated maneuvers

Kaushik Jayaram, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2015.

Abstract

In nature, animals perform a variety of maneuvers to negotiate complex terrain and escape from predators. During rapid behaviors, when neural control systems are less effective due to delays or bandwidth constraints, small animals utilize alternative, yet equally effective, mechanically mediated strategies to ensure successful performance. Small locomotors use their bodies to absorb energy during collisions and objects to redirect and deflect their motion. Larger animals cannot use these mechanical strategies without severe injuries, because viscoelastic body elements are size-dependent. Here, we present a model for scaling of body mechanics assuming Kelvin-Voigt behavior. Assuming dynamic similarity for the scaling of body velocity as a function of mass (M), we expect velocity to scale as M0.16, closely agreeing with data on the maximum running speed of animals at M0.17± 0.04. Thus, possible kinetic energies relative to body mass (KEmax) increase according to the power law M1/3. We find the ability to dissipate energy per unit mass (EAmax), calculated as a product of the material toughness and cross-section area of the animal, is also size-dependent, (M-1/3), placing small animals at a definite advantage. KEmax and EAmax functions intersect showing that beyond a critical body mass (~1 kg), the animal’s entire kinetic energy cannot be fully dissipated without undergoing irreversible plastic deformation. Therefore, we predict that animals smaller than 1 kg can employ mechanically mediated maneuvers. Although collisions with objects appears to be an inelegant control strategy, relying on the robustness of a body’s mechanical systems represents a paradigm shift for understanding control in both small animals and robots.

Design and development of a vision-based micro-assembly system

Kaushik Jayaram, Suhas S Joshi
JournalProceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, Pages 1-5, 2015.

Abstract

Design and development of a vision-based micro-assembly system

Kaushik Jayaram, Suhas S Joshi
ConferenceInternational Conference on Microactuators and Micromechanisms, Durgapur, India, Jan 19-21, 2012.

Abstract

Performance limited by Friction in Confined Spaces by the American Cockroach Periplaneta americana

Kaushik Jayaram, Daniel I Goldman, Robert J Full
PosterSociety of Experimental Biology Annual Meeting, 2014.

Abstract

Mechanical processing via passive dynamic properties of the cockroach antenna can facilitate control during rapid running

Jean-Michel Mongeau, Alican Demir, Chris J Dallmann, Kaushik Jayaram, Noah J Cowan, Robert J Full
JournalThe Journal of Experimental Biology, Volume 217, Issue 18, Pages 3333-3345, 2014.

Abstract

Mechanics of confined space frictional legged crawling

Kaushik Jayaram, Daniel I Goldman, Robert J Full
PosterWorld Congress of Biomechanics, 2014.

Abstract

Effect of friction on cockroaches running in confined spaces

Kaushik Jayaram, Daniel I Goldman, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2014.

Abstract

Challenges of confined space locomotion - a case study using the American cockroach

Kaushik Jayaram, Dwight Springthorpe, Duncan Haldane, Steven Mckinley, Angela Dirocco, Robert J Full
AbstractSociety of Experimental Biology Annual Meeting, 2013.

Abstract

Running in confined spaces by the American cockroach

Kaushik Jayaram, Dwight Springthorpe, Duncan Haldane, Steven Mckinley, Angela Dirocco, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2013.

Abstract

Dynamic response of antenna flagellum in the American cockroach

Chris J Dallmann, Jean-Michel Mongeau, Kaushik Jayaram, Anil Mahavadi, Robert J Full
PosterSociety of Integrative and Comparative Biology Annual Meeting, 2013.

Abstract

Robust Climbing in Cockroaches Results from Fault Tolerant Design Using Leg Spines

Kaushik Jayaram, Cody Merritt, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2012.

Abstract

Running without feet: the role of tarsi during high-speed horizontal locomotion in cockroaches

Kaushik Jayaram, Cody Merritt, Arun Cherian, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2011.

Abstract

A Tunable, Multisegmented Robotic Antenna for Identifying and Testing Biomechanical Design Principles

Alican Demir, E Samson, Jean-Michel Mongeau, Kaushik Jayaram, Robert J Full, Noah J Cowan
PosterSociety of Integrative and Comparative Biology Annual Meeting, 2011.

Abstract

Biomechanics of Tactile Sensor for Wall Following and Spatial Mapping

Jean-Michel Mongeau, Kaushik Jayaram, Alican Demir, E Sampson, Noah J Cowan, Robert J Full
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2011.

Abstract

Role of robustness in running: Bio-and bio-inspired exoskeletons

Robert J Full, Kaushik Jayaram, Jean-Michel Mongeau, Paul Birkmeyer, Aaron Hoover, Ronald S Fearing
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2011.

Abstract

Mechanical Feedback of Antenna-Substrate Interaction Simplifies Cockroach Antennal Navigation

Jean-Michel Mongeau, Kaushik Jayaram, Jusuck Lee, Robert J Full, Noah J Cowan
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2010.

Abstract

High-speed horizontal to vertical transitions in running cockroaches reveals a principle of robustness

Kaushik Jayaram, Jean-Michel Mongeau, Brian McRae, Robert J Full, Noah J Cowan
AbstractSociety of Integrative and Comparative Biology Annual Meeting, 2010.

Abstract

Development of a flexure-based, force-sensing microgripper for micro-object manipulation

Kaushik Jayaram, Suhas S Joshi
JournalJournal of Micromechanics and Microengineering, Volume 20, Issue 1, Pages 015001, 2009.

Abstract