-- SeanBailey? - 24 Jun 2003

I am only planning on doing one or two of these, but this is a good place to think about things

## Time of Response

• Tap into a high EMG frequency muscle
• Measure the time of response to perturbation
• Same as old kugle setup, with similar directions and data acquisition

• Tells you
• Lower limit of the time of response (so what?)

• Locate high frequency muscle
• Use current setup and code
• apply perturbation at time interval from initiation of EMG
• measure time of response (change from normal)

## Reaction to cyclic perturbations

• Instead of applying perturbations in the vertical direction, apply them fore-aft (or maybe lateral)
• While excursions are about the same in the 3 directions, fore-aft power expenditure (and thus the changes in energy) are much greater in this direction
• This is also the main thing that changes when going from flat ground to vertical climbing
• Tells you
• If perturbations in this direction are attended to
• This may be a possible measure of how good the locomotion is
• Accelerometer on robot body (and in the foot)

• Work out what adding a different frequency sinusoid looks like
• Try again in the vertical direction
• verify previous results?
• Fore-aft direction
• Verify
• Excursions
• Energy/power expenditure
• Mathematics
• Build new actuator/sensor
• Laptop HDD
• Laser sensor for position
• Force sensor
• Semiconductor straingage - design beam and flexures
• Mouse pointer - sensitivity?
• Electronics and interface to operate
• Calibrate with known masses and compliances
• New mounting design
• prismatic slider
• flexures
• direct (like current)
• Put accelerometer on back of
• Animal
• Verify flat running force patterns
• New data on vertical or near vertical running
• Need thin wire (order from company)
• Need more animals!
• Robot
• See if there is a correlation between actually moving and force patterns
• Voice coil on the back of a free-running animal
• Use with EMGs for descending frequency
• What is the lower limit of frequencies for a voice coil (need 10-25 Hz)
• How much mass is there that it moves around?
• Climbing
• Simulate by using air jets
• Relocate bug to being at an angle from the kugle

## Ground reaction forces and sprawl angles up and across slopes

• The gecko seems to change strategy from flat ground to climbing, does the cockroach as well?
• Have the animal run up (and across slopes) with force sensors underneath and high speed video
• Do the same thing with an accelerometer glued to the back of the animal (whole body only)
• Tells us
• Are insects’ strategies different than Geckos? (do they change from pushing outwards to pushing inwards?)
• Ground reaction forces for different slopes and angles
• Change in sprawled posture
• Change in foot orientations
• Overall variations in accelerations of the body

• Have others done this work? Kellar? Others? Read Dan's paper... Look up vertical running
• Ground reaction forces
• Figure out the accelerations and the forces we expect to see
• Research types of force sensors
• Mouse pointer (piezo? Electronics, sensitivity)
• Bought sensor
• Homemade (with strain gages) – structure? flexures?
• Full lab type - Heglund 1981
• Whole body versus individual leg GRFs
• Accelerometer on back? Gives whole body forces?
• Sprawl angles
• high speed video with a marker at foot and on body
• Basic track design
• Basic U channel
• Flat plate (with bright light behind, or vaseline around)
• Squashed cylinder (ala CGW)
• What slopes and materials can the two types of cockroaches run up?

## Convex and concave surfaces

• Have the animal run over convex/concave surfaces with embedded force sensors - does the strategy that insects adopt change with the surface they are running over?
• High speed video to look for changes in posture
• What path does it choose when given a corrugated roof surface?
• Tells us
• If strategy is dependant on surface curvature