Jason M. Brown

Area of research

Biomedical Engineering · Aerospace Engineering

Research interest

Research topics from publications: Evidence for multiple dynamic climbing gait families; Impact of slope on dynamics of running and climbing; Fore-Aft Leg Specialization Controller for a Dynamic Quadruped; Gait design and optimization for efficient running of a direct-drive quadrupedal robot; Dyno-Kinematic Leg Design for High Energy Robotic Locomotion; Classification of dynamical vertical climbing gaits. Representative work: While numerous gait families have been defined and studied for legged systems traversing level ground (e.g. walking, running, bounding, etc), formal distinctions have yet to be developed for dynamic gaits in the vertical regime. Recognition and understanding of different gait families has clear implications to control strategy, efficiency, and stability. While several climbing robotic systems have been described as achieving 'running' behaviors on vertical surfaces, the question of whether distinct dynamic gaits exist and what differentiates these gaits has not been rigorously explored. In this paper, by applying definitions developed in the horizontal regime to simulation and experimental d By combining biological studies and modeling work, the dynamics of running on horizontal terrain and climbing pure vertical surfaces have been distilled down to simple reduced order models. These models have inspired distinct control and design considerations for robots operating in each terrain. However, while the extremes are understood, the intermediate regions of moderate slopes have yet to be fully explored. In this paper, we examine how cockroaches vary their behavior as slope is changed from horizontal to vertical, with special care to examine individual leg forces when possible. The results are then compared with a lateral leg spring based (LLS, horizontal running) and Full-Goldman b

Looking for a research collaborator?

Search millions of scientists by field, institution, impact, and funding status — see their work, find their email, and reach out directly.