Leg Mechanics of Arthropods

该项目建立了力学的一般理论， 用两条以上的腿走路。 节肢动物被用作测试 模型的假设。 这项研究有潜力 应用于步行机，机器人， 和远程操纵器，它们必须在地面上行走， 结构，并在有限的空间内移动施工， 维护、监视和其他相关任务。 工作分四个阶段进行，包括：1）调查 品种的总腿特征和潜在腿运动 包括所有主要节肢动物的代表 可测量大小的行人类别; 2）评估这些 测量腿从节肢动物调查根据公认的 开始确定哪些功能的机械标准 3）开发了高速、高效的工艺流程， 摄影和数字化的结果图像进行分析 活节肢动物的运动;和4）扩展计算机模型 对于这样的运动。

This project establishes a general theory of the mechanics of walking with more than two legs. Arthropods are used as test models for the hypothesis. The research has potential application to the efficient control of walking machines, robots, and remote manipulators which must walk on the ground, climb on structures, and move in confined spaces for construction, maintenance, surveillance, and other related tasks. The work proceeds in four phases which include: 1) Survey the gross leg characteristics and potential leg motions of a variety of dead arthropods including representatives of all major pedestrian classes of measurable size; 2) Evaluate these measured legs from the arthropod survey according to accepted mechanical criteria to begin to determine for what functions they have been optimized; 3) Develop the process of high speed photography and digitization of the resulting images to analyze motion of living arthropods; and 4) Expand the computer model for such movement.