Abstract
As our understanding of the principles underlying animal locomotion improves, we are inspired to apply them to robot design. This has traditionally been achieved through controls or discrete mechanical devices; however, new manufacturing methods, such as Shape Deposition Manufacturing (SDM), offer us the opportunity to develop mechanisms containing intrinsic mechanical properties tailored for function. To properly utilize SDM, we must develop a bridge between biology and design. As a first step, we have conducted relaxation and dynamic tests on the ablated metathoracic limb of the Blabems discoidalis cockroach and derived measures of stiffness and damping. We then tested an SDM-compatible polymer with similar viscoelastic properties. Comparison and understanding of the mapping between these two materials enables us to design and manufacture legs with stiffness and damping similar to those found in insects.
