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Related Concept Videos

Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
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Two-Dimensional Force System: Problem Solving01:29

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Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
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Rolling Resistance: Problem Solving01:17

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Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
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A two-dimensional system in mechanical engineering involves the analysis of motion and forces in a plane. A two-dimensional force vector can be resolved into its components as:
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Using Insect Electroantennogram Sensors on Autonomous Robots for Olfactory Searches
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Environmental force sensing helps robots traverse cluttered large obstacles.

Qihan Xuan1, Chen Li1

  • 1Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, United States of America.

Bioinspiration & Biomimetics
|November 8, 2023
PubMed
Summary
This summary is machine-generated.

Force sensing enables robots to navigate complex environments by adapting their movement. This study shows robots can estimate obstacle stiffness and select efficient locomotion modes, reducing energy costs for cluttered terrain traversal.

Keywords:
affordancecockroachcontactfeedbacklocomotionpotential energy landscapeterradynamics

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Area of Science:

  • Robotics
  • Biomechanics
  • Artificial Intelligence

Background:

  • Robots typically avoid obstacles, but cluttered environments require physical interaction.
  • Discoid cockroaches and sensor-less robots traverse beams, with animals outperforming robots due to force sensing.
  • Force sensing is hypothesized to improve robot traversal of large, cluttered obstacles.

Purpose of the Study:

  • To demonstrate in simulation how environmental force sensing aids robots in traversing cluttered, large obstacles.
  • To develop a physics model for estimating obstacle stiffness from contact forces.
  • To create a force feedback strategy for robots to select energy-efficient locomotor modes.

Main Methods:

  • Developed a multi-body dynamics simulation of a minimalistic robot interacting with beams.
  • Modeled beam stiffness estimation using sensed contact forces.
  • Implemented a force feedback strategy to select locomotor modes based on estimated beam stiffness.

Main Results:

  • Force feedback allowed robots to traverse both flimsy and stiff beams with lower energy costs compared to feedforward pushing or obstacle avoidance.
  • Stiffness estimation accuracy was maintained despite variations in oscillation amplitude, frequency, and position sensing uncertainty.
  • Higher sensorimotor delay increased the mechanical energy cost of traversal.

Conclusions:

  • Environmental force sensing is crucial for robots to adapt locomotion and efficiently traverse cluttered obstacles.
  • The developed force feedback strategy enables robots to intelligently choose traversal methods based on obstacle properties.
  • Future work should validate these findings on a physical robot platform.