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How biomechanics, path planning and sensing enable gliding flight in a natural environment.

ABSTRACT: Gliding animals traverse cluttered aerial environments when performing ecologically relevant behaviours. However, it is unknown how gliders execute collision-free flight over varying distances to reach their intended target. We quantified complete glide trajectories amid obstacles in a naturally behaving population of gliding lizards inhabiting a rainforest reserve. In this cluttered habitat, the lizards used glide paths with fewer obstacles than alternatives of similar distance. Their takeoff direction oriented them away from obstacles in their path and they subsequently made mid-air turns with accelerations of up to 0.5 g to reorient towards the target tree. These manoeuvres agreed well with a vision-based steering model which maximized their bearing angle with the obstacle while minimizing it with the target tree. Nonetheless, negotiating obstacles reduced mid-glide shallowing rates, implying greater loss of altitude. Finally, the lizards initiated a pitch-up landing manoeuvre consistent with a visual trigger model, suggesting that the landing decision was based on the optical size and speed of the target. They subsequently followed a controlled-collision approach towards the target, ending with variable impact speeds. Overall, the visually guided path planning strategy that enabled collision-free gliding required continuous changes in the gliding kinematics such that the lizards never attained theoretically ideal steady-state glide dynamics.

SUBMITTER: Khandelwal PC

PROVIDER: S-EPMC7062017 | biostudies-literature | 2020 Feb

REPOSITORIES: biostudies-literature

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How biomechanics, path planning and sensing enable gliding flight in a natural environment.

Khandelwal Pranav C PC Hedrick Tyson L TL

Proceedings. Biological sciences 20200219 1921

Gliding animals traverse cluttered aerial environments when performing ecologically relevant behaviours. However, it is unknown how gliders execute collision-free flight over varying distances to reach their intended target. We quantified complete glide trajectories amid obstacles in a naturally behaving population of gliding lizards inhabiting a rainforest reserve. In this cluttered habitat, the lizards used glide paths with fewer obstacles than alternatives of similar distance. Their takeoff d ...[more]

PMID: 32070254

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Project description:The focus of research in biped locomotion has moved toward real-life scenario applications, like walking on uneven terrain, passing through doors, climbing stairs and ladders. As a result, we are witnessing significant advances in the locomotion of biped robots, enabling them to move in hazardous environments while simultaneously accomplishing complex manipulation tasks. Yet, considering walking in an unknown environment, the efficiency of humanoid robots is still far from being comparable with the human. Currently, bipeds are very sensitive to external changes and they have severe constraints for adaptation of walk to conditions from such a complex environment. Promising approaches for efficient generation and realization of walking in a complex environment are based on biological solutions that have been developed for many years of evolution. This work presents one such human-inspired methodology for path planning and realization of biped walk appropriate for motion in a complex unfamiliar environment. Path planning results in calculating clothoid curves that represent well the human-like walking path. The robot walk is realized by the composition of parametric motion primitives. Such an approach enables on-line modification of planned path and walk parameters at any moment, instantly. To establish the relationship between high-level path planner and the low-level joint motion realization, we had to find a way to extract the parameters of the clothoid paths that can be linked with the parameters of the walk and consequently to motion primitive parameters. This enabled the robot to adopt its walking for avoiding the obstacles and for a smooth transition between different paths. In this paper we provide a complete framework that integrates the following components: (i) bio-inspired online path planning, (ii) path-dependent automatic calculation of high-level gait parameters (step length, walking speed, direction, and the height of the foot sole), and (iii) automatic calculation of low-level joint movements and corresponding control terms (driving motor voltage) through the adaptation of motion primitives which realize walking pattern and preserves the dynamic balance of the robot.

Project description:BackgroundThe built and natural environment and health are inextricably linked. However, there is considerable debate surrounding the strength and quality of the evidence base underpinning principles of good practice for built and natural environment design in promoting health. This umbrella review aimed to assess relationships between the built and natural environment and health, concentrating on five topic areas: neighbourhood design, housing, food environment, natural and sustainable environment, and transport.MethodsA structured search was conducted for quantitative systematic reviews and stakeholder reviews published between January 2005 and April 2016. Seven databases and the websites of 15 relevant and respected stakeholder organisations known to publish review-level documentation were searched. Searches were limited to English-language publications and duplicate references were removed. Evidence quality and strength was appraised using validated techniques. Findings were used to develop a diagram for each topic area, illustrating relationships between built and natural environment planning principles and health-related outcomes.ResultsA total of 117 systematic reviews and review-level documents were eligible for inclusion. The quality of evidence was mixed; much of the evidence examined relied on findings from cross-sectional studies, making it difficult to draw clear causal links between built environment exposures and health-related impacts and outcomes. Fourteen actionable planning principles associated with positive health-related outcomes were identified across the five topic areas. For example, neighbourhoods that enhanced walkability, were complete and compact in design, and those which enhanced connectivity through safe and efficient infrastructure were associated with better health-related outcomes relating to physical activity, social engagement, mental health, perceptions of crime, and road traffic collisions. Evidence for the effectiveness of planning principles across different topic areas and on reducing health inequalities was sparse and inconclusive.ConclusionsFindings provide an up-to-date overview of relationships between the built and natural environment and health and present logical, evidence-based messages to aid communication between public health and planning professionals.

Dataset Information

How biomechanics, path planning and sensing enable gliding flight in a natural environment.

Publications

How biomechanics, path planning and sensing enable gliding flight in a natural environment.

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