DEPARTMENT OF MECHANICAL ENGINEERING
WILLIAM MAXWELL REED SEMINAR SERIES
Animals as models for robot mobility and autonomy: Crawling, walking, running,
climbing, and flying
Roger Quinn, Ph.D.
The Case Western Reserve University Biologically Inspired Robotics Group
Abstract: We incorporate neuromechanical principles of locomotion and autonomy into robot designs. The goals are to
develop useful mobile robots and to use robot models to help us better understand animal neurobiology and mechanics.
Many examples will be presented. A robot that captures the leg designs important for animal locomotion could be extremely
agile and therefore suitable for many missions. However, before a robot with the intricate leg designs and controlled with the
agility and energy efficiency of an animal can be deployed some technical issues must be solved. Therefore, we are using
two complementary approaches to develop mobile robots. Using the direct approach we have developed a series of robots
that model animals. For control of robots with multi-segmented legs, we are developing continuous time biological neural
networks based upon the neurobiology of insects and vertebrates and applying them to a praying mantis robot, a dog robot
and a bipedal simulation. In the second approach the fundamental principles of insect locomotion are applied using existing
technologies and in a simplified manner. Their motor control is also simplified and the agility of these vehicles makes them
suitable for applications in the near term. Versions have run on rugged terrain, climbed obstacles and climbed glass walls.
This abstracted approach has also been used to develop a small vehicle called MALV (micro air and land vehicle) that flies,
lands and crawls. Animals have compliant joints and structures for various reasons including impact absorption and stability:
MALV’s compliant running gear permits it to crawl away from hard landings. As another example, our softworm robots are
structurally compliant and crawl via continuous peristaltic waves. Robots with a human in the loop for low-level control
decisions are limited in their movements in complex terrain because of sparse sensory information. Robot autonomy is
essential for their agility. Insect neurobiology and behavioral experiments are being used to develop decision making
strategies and preliminary brain models.
Bio:
Roger D. Quinn is an Arthur P. Armington Professor of Engineering at Case Western Reserve University. He joined
the Mechanical and Aerospace Engineering department in 1986 after receiving a Ph.D. (1985) from Virginia Tech and a
M.S. (1983) and B.S. (1980) from the University of Akron. He has directed the CWRU Biologically Inspired Robotics
Complex since its inception in 1990. His research, in collaboration with biologists, is devoted to the development of robots
and control strategies based upon biological principles. Dozens of robots have been developed to either improve robot
performance with biological principles or model animal systems. He has authored more than 200 publications and a dozen
patents on practical devices resulting from his work. His biology-engineering collaborative work on behavior based
distributed control, robot autonomy, human-machine interfacing, soft robots, and neural control systems have each earned
awards.
Date: December 11, 2015
Place: CB 106
Time: 3:00 to 4:00p
Contact: Dr. Alexandre Martin 257-4462
Meet the speaker and have refreshments
Attendance open to all interested persons
DEPARTMENT OF MECHANICAL ENGINEERING
UNIVERSITY OF KENTUCKY
LEXINGTON, KENTUCKY