On the biomimetic design of agile-robot legs

The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.

Gregarious behavior in desert locusts is evoked by touching their back legs

Desert locusts in the solitarious phase were repeatedly touched on various body regions to identify the site of mechanosensory input that elicits the transition to gregarious phase behavior. The phase state of individual insects was measured after a 4-h period of localized mechanical stimulation, by using a behavioral assay based on multiple logistic regression analysis. A significant switch from solitarious to gregarious behavior occurred when the outer face of a hind femur had been stimulated, but mechanical stimulation of 10 other body regions did not result in significant behavioral change. We conclude that a primary cause of the switch in behavior that seeds the formation of locust swarms is individuals regularly touching others on the hind legs within populations that have become concentrated by the environment.

Organic geochemistry of sediments at DSDP Legs 56-57 Holes

The quantity, type, and maturity of the organic matter of Quaternary and Tertiary sediments from the Japan Trench (DSDP Leg 56, Sites 434 and 436; and Leg 57, Sites 438, 439 and 440) were determined. The hydrocarbons in lipid extracts were analyzed by capillary- column gas chromatography and combined gas chromatography/ mass spectrometry. Kerogen concentrates were investigated by microscopy, and vitrinite-reflectance values were determined. Measured organic-carbon values were in the range of 0.13 to 1.00 per cent. Extract yields, however, were extremely low. Normalized to organic carbon, total extracts ranged from 4.1 to 15.7 mg/g Corg. Gas chromatography of non-aromatic hydrocarbons showed that all sediments, except one Oligocene sample, contained very immature, mainly terrigenous organic material. This was indicated by n-alkane maxima at C29 and C31 and high odd-carbon-number predominances. Unsaturated steroid hydrocarbons were found to be major cyclic compounds in lower- and middle-Miocene samples from the upper inner trench slope (Sites 438 and 439). Perylene was the dominating aromatic hydrocarbon in all but the Oligocene sample. Microscopy showed kerogens rich in terrigenous organic particles, with a major portion of recycled vitrinite. Nevertheless, almost all the liptinite particles appeared to be primary. This is a paradox, as the bulk of the samples were composed of hemipelagic mineral matter with a major siliceous biogenic (planktonic) component. A trend of reduced size and increased roundness can be seen for the vitrinite/ inertinite particles from west to east (from upper inner trench slope to outer trench slope). All sediments but one are relatively immature, with mean huminite-reflectance values (Ro)in the range of 0.30 to 0.45 per cent. The oldest and deepest sediment investigated, an Oligocene sandstone from Site 439, yielded a mean vitrinitereflectance value of 0.74 per cent and a mature n-alkane distribution. This sample may indicate a geothermal event in late Oligocene time. It failed to affect the overlying lower Miocene and may have been caused by an intrusion. Boulders of acidic igneous rocks in the Oligocene can be interpreted as witnesses of nearby volcanic activity accompanied by intrusions.