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John R Hutchinson

Publications and source records attributed to John R Hutchinson.

2 recordsLinked to original sources

Long-bone microanatomy in elephants: microstructural insights into gigantic beasts

One of the greatest challenges of terrestrial locomotion is resisting gravity. The morphological adaptive features of the limb long-bones of extant elephants, the heaviest living terrestrial animals, have previously been highlighted; however, their bone microanatomy remains largely unexplored. Here we investigate the microanatomy of the six limb long-bones in Elephas maximus and Loxodonta africana, using comparisons of virtual slices as well as robustness analyses, to understand how they were adapted to heavy weight-bearing. We find that the long bones of elephant limbs display a relatively thick cortex and a medullary area almost entirely filled with trabecular bone. This trabecular bone is highly anisotropic with trabecular orientations reflecting the mechanical load distribution along the limb. The respective functional roles of the bones are reflected in their microanatomy through variations of cortical thickness distribution and main orientation of the trabeculae. We find microanatomical adaptations to heavy weight support that are common to other heavy mammals. Despite these shared characteristics, the long bones of elephants are closer to those of sauropods due to their shared columnar posture, which allows a relaxation of morphofunctional constraints, and thus relatively less robust bones with a thinner cortex than would be expected in such massive animals.

physics.bio-ph↗

A general locomotion control framework for multi-legged locomotors

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve mobility. However, a challenge in designing and controlling such devices lies in the coordination of high-dimensional redundant modules in a way that improves mobility. Here we develop a general framework to control serially connected multi-legged robots. Specifically, we combine two approaches to build a general shape control scheme which can provide baseline patterns of self-deformation ("gaits") for effective locomotion in diverse robot morphologies. First, we take inspiration from a dimensionality reduction and a biological gait classification scheme to generate cyclic patterns of body deformation and foot lifting/lowering, which facilitate generation of arbitrary substrate contact patterns. Second, we use geometric mechanics methods to facilitates identification of optimal phasing of these undulations to maximize speed and/or stability. Our scheme allows the development of effective gaits in multi-legged robots locomoting on flat frictional terrain with diverse number of limbs (4, 6, 16, and even 0 limbs) and body actuation capabilities (including sidewinding gaits on limbless devices). By properly coordinating the body undulation and the leg placement, our framework combines the advantages of both limbless robots (modularity) and legged robots (mobility). We expect that our framework can provide general control schemes for the rapid deployment of general multi-legged robots, paving the ways toward machines that can traverse complex environments under real-life conditions.

cs.RO↗