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Rapid Inversion: Running Animals and Robots Swing like a Pendulum under Ledges

Figure 2

Kinematics of rapid inversion for animals and robot.

In the top left panel (a) a representative pendulum-like model of the inversion behavior is shown swinging from rest until it contacts the underside of the ledge. The red circle represents the rostral or head position. In the bottom left panel (b), we plotted position data of the rostral region of the animals and robot with the initial position centered at the origin. In the three panels at the right, head speed data for the cockroach (c), gecko (d) and robot (e) are plotted as a function of scaled time (% cycle) to compare the speed profile across trials and animals. Bold thick lines show the average speed, whereas light thick ones show ±1 standard deviation. Thin lines in the background show the individual trial data for the animals and robot.

Figure 2

doi: https://doi.org/10.1371/journal.pone.0038003.g002