Tail use improves soft substrate performance in models of early vertebrate land locomotors

McInroe, Benjamin; Astley, Henry C.; Gong, Chaohui; Kawano, Sandy M.; Schiebel, Perrin E.; Rieser, Jennifer M.; Choset, Howie; Blob, Richard W.; Goldman, Daniel I.

Title:

Tail use improves soft substrate performance in models of early vertebrate land locomotors

dc.contributor.author	McInroe, Benjamin
dc.contributor.author	Astley, Henry C.
dc.contributor.author	Gong, Chaohui
dc.contributor.author	Kawano, Sandy M.
dc.contributor.author	Schiebel, Perrin E.
dc.contributor.author	Rieser, Jennifer M.
dc.contributor.author	Choset, Howie
dc.contributor.author	Blob, Richard W.
dc.contributor.author	Goldman, Daniel I.
dc.contributor.corporatename	Georgia Institute of Technology. School of Physics	en_US
dc.contributor.corporatename	Georgia Institute of Technology. School of Biology	en_US
dc.contributor.corporatename	Carnegie-Mellon University. Robotics Institute,	en_US
dc.contributor.corporatename	National Institute for Mathematical and Biological Synthesis	en_US
dc.contributor.corporatename	Clemson University. Dept. of Biological Sciences	en_US
dc.date.accessioned	2016-05-24T22:31:14Z
dc.date.available	2016-05-24T22:31:14Z
dc.date.issued	2016-05-27
dc.description	Complete data and programs for the paper title above. Includes mudskipper data, robot control program, data and solidworks files, and simulation programs. Instructions are given in the appropriate subfolders of the data, and programs are commented.	en_US
dc.description.abstract	In the evolutionary transition from an aquatic to a terrestrial environment, ancient vertebrates (e.g. early tetrapods) faced the challenges of terrestrial locomotion on flowable substrates (e.g. sand and mud) of variable stiffness and incline. While morphology and ranges of motion of appendages can be revealed in fossils, biological and robophysical studies of modern taxa demonstrate that movement on such substrates can be sensitive to small changes in appendage use. Using a biological model (the mudskipper), a physical model (a robot), granular drag measurements, and theoretical tools from geometric mechanics, we demonstrate how tail use can improve robustness to variable limb use and substrate conditions. We hypothesize that properly coordinated tail movements may have provided a substantial benefit for the earliest vertebrates to move on land.	en_US
dc.description.sponsorship	NSF PoLS PHY-1205878, PHY-1150760, NSF CMMI-1361778, ARO grant W911NF-11-1-0514, the ARL MAST CTA, ARO Robotics CTA, NSF National Robotics Initiative IIS-1426655, NSF IOS-0517340, NSF IOS-0817794, GT UROP, GT PURA Travel Grant, Clemson University Wade Stackhouse Fellowship, NSF Award DBI-1300426, with additional support from The University of Tennessee, Knoxville	en_US
dc.embargo.terms	null	en_US
dc.identifier.uri	http://hdl.handle.net/1853/54827
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.subject	Tetrapod	en_US
dc.subject	Granular media	en_US
dc.subject	Substrate	en_US
dc.subject	Yield	en_US
dc.subject	Robophysics	en_US
dc.subject	Geometric mechanics	en_US
dc.title	Tail use improves soft substrate performance in models of early vertebrate land locomotors	en_US
dc.type	Dataset	en_US
dspace.entity.type	Publication
local.contributor.author	Goldman, Daniel I.
local.contributor.corporatename	College of Sciences
local.contributor.corporatename	School of Physics
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