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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:
- Larson, Joanna G and Weiner, Abraham
- Description:
- This dataset consists of 11 linear external morphological measurements from 1,614 adult frog individuals from 434 species that all naturally occur in the Western Hemisphere. We used these data to investigate patterns of multidimensional morphospace structure in frog assemblages along the latitudinal diversity gradient in the Americas. The measured traits are predictive of adult microhabitat use, diel activity patterns, locomotion, mating habitat, and diet.
- Keyword:
- functional traits, morphology, frog, anura, and amphibian
- Citation to related publication:
- Larson, JG, PO Title, and DL Rabosky. Expansion and packing of frog morphospace along the Western Hemisphere latitudinal diversity gradient revealed by functional traits. In prep
- Discipline:
- Science