[
    {
        "id": "authors:56dwt-dmz20",
        "collection": "authors",
        "collection_id": "56dwt-dmz20",
        "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20220503-120651700",
        "type": "article",
        "title": "Engineered jumpers overcome biological limits via work multiplication",
        "author": [
            {
                "family_name": "Hawkes",
                "given_name": "Elliot W.",
                "orcid": "0000-0002-0420-5025",
                "clpid": "Hawkes-Elliot-W"
            },
            {
                "family_name": "Xiao",
                "given_name": "Charles",
                "orcid": "0000-0003-4072-1649",
                "clpid": "Xiao-Charles"
            },
            {
                "family_name": "Peloquin",
                "given_name": "Richard-Alexandre",
                "clpid": "Peloquin-Richard-Alexandre"
            },
            {
                "family_name": "Keeley",
                "given_name": "Christopher",
                "orcid": "0000-0001-7033-4362",
                "clpid": "Keeley-Christopher"
            },
            {
                "family_name": "Begley",
                "given_name": "Matthew R.",
                "orcid": "0000-0002-2514-1307",
                "clpid": "Begley-Matthew-R"
            },
            {
                "family_name": "Pope",
                "given_name": "Morgan T.",
                "orcid": "0000-0002-8393-7493",
                "clpid": "Pope-Morgan-T"
            },
            {
                "family_name": "Niemeyer",
                "given_name": "G\u00fcnter",
                "clpid": "Niemeyer-Gunter"
            }
        ],
        "abstract": "For centuries, scientists have explored the limits of biological jump height, and for decades, engineers have designed jumping machines that often mimicked or took inspiration from biological jumpers. Despite these efforts, general analyses are missing that compare the energetics of biological and engineered jumpers across scale. Here we show how biological and engineered jumpers have key differences in their jump energetics. The jump height of a biological jumper is limited by the work its linear motor (muscle) can produce in a single stroke. By contrast, the jump height of an engineered device can be far greater because its ratcheted or rotary motor can 'multiply work' during repeated strokes or rotations. As a consequence of these differences in energy production, biological and engineered jumpers should have divergent designs for maximizing jump height. Following these insights, we created a device that can jump over 30\u2009metres high, to our knowledge far higher than previous engineered jumpers and over an order of magnitude higher than the best biological jumpers. Our work advances the understanding of jumping, shows a new level of performance, and underscores the importance of considering the differences between engineered and biological systems.",
        "doi": "10.1038/s41586-022-04606-3",
        "issn": "0028-0836",
        "publisher": "Nature Publishing Group",
        "publication": "Nature",
        "publication_date": "2022-04-28",
        "series_number": "7907",
        "volume": "604",
        "issue": "7907",
        "pages": "657-661"
    },
    {
        "id": "authors:0b7ve-3c496",
        "collection": "authors",
        "collection_id": "0b7ve-3c496",
        "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20210216-102030617",
        "type": "book_section",
        "title": "Realistic and Interactive Robot Gaze",
        "book_title": "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
        "author": [
            {
                "family_name": "Pan",
                "given_name": "Matthew K. X. J.",
                "clpid": "Pan-Matthew-K-X-J"
            },
            {
                "family_name": "Choi",
                "given_name": "Sungjoon",
                "clpid": "Choi-Sungjoon"
            },
            {
                "family_name": "Kennedy",
                "given_name": "James",
                "clpid": "Kennedy-James"
            },
            {
                "family_name": "McIntosh",
                "given_name": "Kyna",
                "clpid": "McIntosh-Kyna"
            },
            {
                "family_name": "Zamora",
                "given_name": "Daniel Campos",
                "clpid": "Zamora-Daniel-Campos"
            },
            {
                "family_name": "Niemeyer",
                "given_name": "G\u00fcnter",
                "clpid": "Niemeyer-Gunter"
            },
            {
                "family_name": "Kim",
                "given_name": "Joohyung",
                "clpid": "Kim-Joohyung"
            },
            {
                "family_name": "Wieland",
                "given_name": "Alexis",
                "clpid": "Wieland-Alexis"
            },
            {
                "family_name": "Christensen",
                "given_name": "David",
                "clpid": "Christensen-David"
            }
        ],
        "abstract": "This paper describes the development of a system for lifelike gaze in human-robot interactions using a humanoid Audio-Animatronics \u00ae bust. Previous work examining mutual gaze between robots and humans has focused on technical implementation. We present a general architecture that seeks not only to create gaze interactions from a technological standpoint, but also through the lens of character animation where the fidelity and believability of motion is paramount; that is, we seek to create an interaction which demonstrates the illusion of life. A complete system is described that perceives persons in the environment, identifies persons-of-interest based on salient actions, selects an appropriate gaze behavior, and executes high fidelity motions to respond to the stimuli. We use mechanisms that mimic motor and attention behaviors analogous to those observed in biological systems including attention habituation, saccades, and differences in motion bandwidth for actuators. Additionally, a subsumption architecture allows layering of simple motor movements to create increasingly complex behaviors which are able to interactively and realistically react to salient stimuli in the environment through subsuming lower levels of behavior. The result of this system is an interactive human-robot experience capable of human-like gaze behaviors.",
        "doi": "10.1109/IROS45743.2020.9341297",
        "isbn": "9781728162126",
        "publisher": "IEEE",
        "place_of_publication": "Piscataway, NJ",
        "publication_date": "2020-10",
        "pages": "11072-11078"
    }
]