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- Creator:
- Urs, Karthik, Carlson, Jessica, Srinivas Manohar, Aditya, Rakowiecki, Michael, Alkayyali, Abdulhadi, Saunders, John E., Tulbah, Faris, and Moore, Talia Y.
- Description:
- Robotic models are useful for independently varying specific features, but most quadrupedal robots differ so greatly from animal morphologies that they have minimal evolutionary relevance. Commercially available quadrupedal robots are also prohibitively expensive for biological research programs and difficult to customize. Here, we present a low-cost quadrupedal robot with modular legs that can match a wide range of animal morphologies for biomechanical hypothesis testing. The Robot Of Theseus (TROT) costs ≈$4000 to build out of 3D printed parts and standard off-the-shelf supplies. Each limb consists of 2 or 3 rigid links; the proximal joint can be rotated to become a knee or elbow. Telescoping mechanisms vary the length of each limb link. The open-source software accommodates user-defined gaits and morphology changes. Effective leg length, or crouch, is determined by the four-bar linkage actuating each joint. The backdrivable motors can vary virtual spring stiffness and range of motion.
- Keyword:
- Robo-physical model, quadruped, locomotion, morphology, and biomechanics
- Citation to related publication:
- Urs, Carlson, Srinivas Manohar, Rakowiecki, Alkayyali, Saunders, Tulbah, Moore. (forthcoming) The Robot of Theseus: A modular robotic testbed for legged locomotion.
- Discipline:
- Engineering
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- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:101794 (Geocapromys ingrahami ingrahami) - Skull. Raw Dataset includes 1601 TIF images (each 1776 x 1012 x 1 voxel at 0.03825258 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:101794 (Geocapromys ingrahami ingrahami) - Skull. Reconstructed Dataset includes 1167 TIF images (each 1776 x 1012 x 1 voxel at 0.038253 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Rodentia, Capromyidae, Geocapromys ingrahami ingrahami, 1987305882, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987305882
- Discipline:
- Science
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- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:77810 (Mysateles prehensilis) - Skull. Raw Dataset includes 1601 TIF images (each 1761 x 1010 x 1 voxel at 0.04314947 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:77810 (Mysateles prehensilis) - Skull. Reconstructed Dataset includes 1100 TIF images (each 1761 x 1010 x 1 voxel at 0.043149 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Rodentia, Capromyidae, Mysateles prehensilis, 1987347226, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987347226
- Discipline:
- Science
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- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:113417 (Cryptomys DARLINGI) - Skull. Raw Dataset includes 1601 TIF images (each 2000 x 1687 x 1 voxel at 0.02594388 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:113417 (Cryptomys DARLINGI) - Skull. Reconstructed Dataset includes 766 TIF images (each 2000 x 1687 x 1 voxel at 0.025944 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Rodentia, Bathyergidae, Cryptomys DARLINGI, 1987310258, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987310258
- Discipline:
- Science
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- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:117122 (Galeopterus variegatus) - Skull. Raw Dataset includes 1601 TIF images (each 1525 x 2000 x 1 voxel at 0.05260535 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:117122 (Galeopterus variegatus) - Skull. Reconstructed Dataset includes 697 TIF images (each 1525 x 2000 x 1 voxel at 0.052605 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Dermoptera, Cynocephalidae, Galeopterus variegatus, 1987269464, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987269464
- Discipline:
- Science
-
- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:123578 (Pygeretmus platyurus) - Skull. Raw Dataset includes 1601 TIF images (each 1704 x 1404 x 1 voxel at 0.01906514 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:123578 (Pygeretmus platyurus) - Skull. Reconstructed Dataset includes 914 TIF images (each 1704 x 1404 x 1 voxel at 0.019065 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Rodentia, Dipodidae, Pygeretmus platyurus, 1987300479, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987300479
- Discipline:
- Science
-
- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:156624 (Bettongia penicillata) - Skull. Raw Dataset includes 1601 TIF images (each 2000 x 1265 x 1 voxel at 0.04135194 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:156624 (Bettongia penicillata) - Skull. Reconstructed Dataset includes 1021 TIF images (each 2000 x 1265 x 1 voxel at 0.041352 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Diprotodontia, Potoroidae, Bettongia penicillata, 1987318993, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987318993
- Discipline:
- Science
-
- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:159321 (Spilocuscus maculatus) - Skull. Raw Dataset includes 1601 TIF images (each 1815 x 1401 x 1 voxel at 0.0534855 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:159321 (Spilocuscus maculatus) - Skull. Reconstructed Dataset includes 964 TIF images (each 1815 x 1401 x 1 voxel at 0.053485 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Diprotodontia, Phalangeridae, Spilocuscus maculatus, 1987243643, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987243643
- Discipline:
- Science
-
- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:160142 (Miopithecus talapoin) - Skull. Raw Dataset includes 1601 TIF images (each 1788 x 997 x 1 voxel at 0.05919872 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:160142 (Miopithecus talapoin) - Skull. Reconstructed Dataset includes 872 TIF images (each 1788 x 997 x 1 voxel at 0.059199 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Primates, Cercopithecidae, Miopithecus talapoin, 1987231025, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987231025
- Discipline:
- Science
-
- Creator:
- University of Michigan Museum of Zoology
- Description:
- Scan of specimen ummz:mammals:176264 (Dendrolagus matschiei) - Skull. Raw Dataset includes 1601 TIF images (each 1889 x 1790 x 1 voxel at 0.0754419 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction. and Scan of specimen ummz:mammals:176264 (Dendrolagus matschiei) - Skull. Reconstructed Dataset includes 1019 TIF images (each 1889 x 1790 x 1 voxel at 0.075442 mm resolution, derived from 1601 scan projections), xtek and vgi files for volume reconstruction.
- Keyword:
- Animalia, Chordata, Mammalia, Diprotodontia, Macropodidae, Dendrolagus matschiei, 1987331418, computed tomography, X-ray, and 3D
- Citation to related publication:
- For more information on the original UMMZ specimen, see: https://www.gbif.org/occurrence/1987331418
- Discipline:
- Science