BIO-INSPIRED LOCOMOTION

Why build robots that move like animals?

• Many mobile robots use the energy stored in batteries to move and we want the batteries to last a long time.
  
• Animals need energy too! They get their energy by eating food, like fruits and vegetables.
  
• Each animals is unique in how it moves, but animals move in a way that allows their "batters" to last a long time. We say that their movements are energy efficient. Humans, for example, are great walkers.
  

How do we build robots that mimic animals?

• Everything starts with an observation of how an animal moves. An important observation is that animals tend to repeat the same pattern as they move. A locomotion patter is known as a gait.
• We then try to copy the patter using a model that captures the basic physics of the movement. IN the case of a gibbon, our model is based on a double pendulum.

THE PHYSICS BEHIND IT

Momentum

• Momentum describes how strong a moving thing is. Things that aren't moving have no momentum. Moving things have less momentum if they are light or moving slowly, and more momentum if they are heavy or moving fast.
• The Gibbot uses its momentum to propel itself across the board. This allows it to move with more efficiently.

Potential Energy

• Energy is measured in the amount of "work" it does. Potential Energy is stored energy.
• Right before the Gibbot starts a swing, it has a lot of potential energy. As it swings, it uses up its potential energy and converts it into movement.