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Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.

ABSTRACT: Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots.

SUBMITTER: Aoi S

PROVIDER: S-EPMC4957114 | biostudies-literature | 2016 Jul

REPOSITORIES: biostudies-literature

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Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.

Aoi Shinya S Tanaka Takahiro T Fujiki Soichiro S Funato Tetsuro T Senda Kei K Tsuchiya Kazuo K

Scientific reports 20160722

Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study u ...[more]

PMID: 27444746

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Project description:BackgroundThe laparoscopic Pringle maneuver is crucial for controlling bleeding during laparoscopic hepatectomy. In this study, we introduce a new laparoscopic Pringle maneuver and preliminarily investigate its application in laparoscopic hepatectomy.MethodsWe collected and analyzed the clinical data of 17 consecutive patients who underwent laparoscopic hepatectomy at the Department of Hepatic Surgery, the First Affiliated Hospital of the University of Science and Technology of China, from January 2022 to January 2023. All patients underwent the hooking method for intermittent occlusion of hepatic inflow. Intraoperative and postoperative clinical indices were observed and recorded.ResultsAll 17 patients underwent laparoscopic hepatectomy with hepatic inflow control using the hooking method. Four patients with adhesions under the hepatoduodenal ligament successfully had occlusion loops placed using the hooking method combined with Zhang's modified method during surgery. The median occlusion time for the 17 patients was 34 (12-60) min, and the mean operation time was 210 ± 70 min. The mean intraoperative blood loss was 145 ± 86 ml, and no patients required intraoperative blood transfusion. The patients' postoperative peak AST was 336 ± 183 U/L, and the postoperative peak ALT was 289 ± 159 U/L. Postoperative complications occurred in 2 patients (11.8%), including 1 Clavien-Dindo grade I and 1 Clavien-Dindo grade II complication. No Clavien-Dindo grade IIIa or higher complications or deaths occurred in any patient. None of the patients developed portal vein thrombosis or hepatic artery aneurysm formation. The median postoperative hospital stay was 6 (4-14) days.ConclusionThe hooking method combines the advantages of both intracorporeal Pringle maneuver and extracorporeal Pringle maneuver. It is a simple, safe, and effective method for controlling hepatic inflow and represents a promising approach for performing totally intracorporeal laparoscopic Pringle maneuver.

Dataset Information

Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.

Publications

Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.

Similar Datasets

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