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Article
Rapid Inversion: Running Animals and Robots Swing like a Pendulum under Ledges
2012
  • Jean-Michel Mongeau, University of California - Berkeley
  • Brian McRae, University of California - Berkeley
  • Ardian Jusufi, University of California - Berkeley
  • Paul Birkmeyer, University of California - Berkeley
  • Aaron M. Hoover, Franklin W. Olin College of Engineering
  • Ronald Fearing, University of California - Berkeley
  • Robert J. Full, University of California - Berkeley
Document Type
Article
Publication Date
6-1-2012
Abstract

Escaping from predators often demands that animals rapidly negotiate complex environments. The smallest animals attain relatively fast speeds with high frequency leg cycling, wing flapping or body undulations, but absolute speeds are slow compared to larger animals. Instead, small animals benefit from the advantages of enhanced maneuverability in part due to scaling. Here, we report a novel behavior in small, legged runners that may facilitate their escape by disappearance from predators. We video recorded cockroaches and geckos rapidly running up an incline toward a ledge, digitized their motion and created a simple model to generalize the behavior. Both species ran rapidly at 12–15 body lengths-per-second toward the ledge without braking, dove off the ledge, attached their feet by claws like a grappling hook, and used a pendulum-like motion that can exceed one meter-per-second to swing around to an inverted position under the ledge, out of sight. We discovered geckos in Southeast Asia can execute this escape behavior in the field. Quantification of these acrobatic behaviors provides biological inspiration toward the design of small, highly mobile search-and-rescue robots that can assist us during natural and human-made disasters. We report the first steps toward this new capability in a small, hexapedal robot.

Comments

© 2012 Public Library of Science. This article was published in PLoS ONE, vol. 7, iss. 6, and may be found here.

Citation Information
Jean-Michel Mongeau, Brian McRae, Ardian Jusufi, Paul Birkmeyer, et al.. "Rapid Inversion: Running Animals and Robots Swing like a Pendulum under Ledges" (2012)
Available at: http://works.bepress.com/aaron_hoover/8/