          |
GRASP Seminar Series: Fall 2005
September 9, 11:00 AM, Wu & Chen Auditorium
Bob Full
University of California at Berkeley
“Bipedal Bugs, Galloping Ghosts and Gripping Geckos: BioInspired
Robotics, Artificial Muscles and Adhesives”
Abstract: The Age of Interdisciplinary
Integration is upon us. Integrative biology is providing inspiration to
disciplines such as animatronics, animation, mathematics, medicine, robotics
and space exploration. In return, these disciplines supply biologists
with novel design hypotheses, algorithms and measurement devices. One
example is in the area of BioMotion. Comparing the remarkable diversity
in nature has lead to the discovery of general principles. Animals are
amazing at legged locomotion because they have simple control systems,
multifunctional actuators and feet that allow no surface to be an obstacle.
Extraordinarily diverse animals show the same dynamics - legged animals
appear to bounce like people on pogo sticks. Force patterns produced by
six-legged insects are the same as those produced by trotting eight-legged
crabs, four-legged dogs
and even running humans. Rapid running cockroaches can become bipedal
as they take 50 steps in a single second and ghost crabs seem to glide
with aerial phases. Yet, the advantage of many legs and a sprawled posture
appears to be in stability. Mathematical models show that these designs
self-stabilize to perturbations without the equivalent of a brain. Control
algorithms appear embedded in the form of the animal itself. Muscles tune
the system by acting as motors, springs, struts and shocks all in one.
Amazing feet permit creatures such as geckos to climb up walls at over
meter per second without using glue or suction - just molecular forces.
These fundamental principles of animal locomotion have inspired the design
of creations in computer animation (A Bug's Life, Pixar), new control
circuits, artificial muscles, self-clearing dry adhesives, and autonomous
legged robots such as the Mecho-gecko, Sprawl, RHex and RiSE that may
someday go to Mars. Revolutionary technological advances in materials
and manufacturing promise to make nature a better teacher.
Biography: Bob Full completed his undergraduate studies at SUNY Buffalo in 1979. He also did his graduate work at SUNY Buffalo, receiving a master's degree in 1982 and a doctoral degree in 1984. He held a research and teaching post doctoral position at The University of Chicago from 1984 to 1986 during which time he did research at Harvard University. In 1986 he joined the faculty of the University of California at Berkeley as an Assistant Professor of Zoology. He was promoted to Associate Professor of Integrative Biology in 1991, and to Full Professor of Integrative Biology in 1995, a position he holds today. In 1996 he was given Berkeley's Distinguished Teaching Award. In 1997 Professor Full became a Chancellor's Professor at Berkeley, awarded for "distinguished achievement of the highest level in research, teaching and service." In 1998 Professor Full received a Goldman Professorship for innovative teaching.
Professor Full directs the Poly-P.E.D.A.L. Laboratory that studies the Performance, Energetics and Dynamics of Animal Locomotion (P.E.D.A.L.) in many-footed creatures (Poly). His research laboratory applies the same techniques used in the study of human gait - 3D kinematic, force platform, and EMG analysis - but in miniature. His research program in comparative physiology and biomechanics has shown how examining a diversity of animals leads to the discovery of general principles of locomotion. General principles can then be used as hypotheses to explain the remarkable diversity in physiology and morphology in nature. His programmatic theme is Diversity Enables Discovery. Full's research has provided biological inspiration for the design of multi-legged robots, tuned skeletal systems, artificial muscles and dry adhesives. His research interests extend from analyzing the pitching motion of a Hall of Fame pitcher to assisting computer animators make children's movies (Pixar/Disney Bug's Life). Full received a NSF Presidential Young Investigators Award. He has presented his research and educational ideas to the National Academy of Sciences.
GRASP
Laboratory
Site maintained by graspadm@grasp.cis.upenn.edu
Last update:
31 August, 2005