{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/99439"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/99439","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Observing and modelling the legless jumping mechanism of click beetles for bio-inspired robotic design","abstract":"Click beetles (Coleoptera: Elateridae) have evolved a unique jumping mechanism to right themselves when on their dorsal side without using their legs or any other appendages. This work describes and analyzes the stages of the click beetle jump using high-speed video recordings and scanning electron micrographs of six beetle species, namely Alaus oculatus, Ampedus linteus, Hemicrepidius sp., Melanactes sp., Melanotus spp. and Parallelosthetus attenuatus. The jump of the click beetle is divided into three consecutive stages: the pre-jump stage (energy storage), and the take-off and airborne stages (energy release). Morphological measurements of the previously mentioned species as well as three additional species, namely Agriotes sp., Athous sp. and Lacon discoideus are taken, and isometric scaling across the species is observed. The body of the click beetle is considered as two masses linked by a hinge. Dynamic and kinematic models of the jump stages are developed. Non-dimensional analysis of the airborne stage is used to analyze the jump and identify the contribution of kinematic and morphological governing parameters. An energetics model is developed to describe the energy exchanges between the three stages of the jump. Kinematic and dynamic models are used to calculate the hinge stiffness and the elastic energy stored in the body during the jump. The derived models provide a framework that will be used for the design of a click beetle inspired self-righting robot.","abstract_html":"Click beetles (Coleoptera: Elateridae) have evolved a unique jumping mechanism to right themselves when on their dorsal side without using their legs or any other appendages. This work describes and analyzes the stages of the click beetle jump using high-speed video recordings and scanning electron micrographs of six beetle species, namely Alaus oculatus, Ampedus linteus, Hemicrepidius sp., Melanactes sp., Melanotus spp. and Parallelosthetus attenuatus. The jump of the click beetle is divided into three consecutive stages: the pre-jump stage (energy storage), and the take-off and airborne stages (energy release). Morphological measurements of the previously mentioned species as well as three additional species, namely Agriotes sp., Athous sp. and Lacon discoideus are taken, and isometric scaling across the species is observed. The body of the click beetle is considered as two masses linked by a hinge. Dynamic and kinematic models of the jump stages are developed. Non-dimensional analysis of the airborne stage is used to analyze the jump and identify the contribution of kinematic and morphological governing parameters. An energetics model is developed to describe the energy exchanges between the three stages of the jump. Kinematic and dynamic models are used to calculate the hinge stiffness and the elastic energy stored in the body during the jump. The derived models provide a framework that will be used for the design of a click beetle inspired self-righting robot.","abstract_has_math":false,"creators":["Bolmin, Ophelia"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Aerospace Engineering","degree_department":null,"school":null,"contributors":["Wissa, Aimy A"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2018,"date_issued":"2018-03-13T15:49:22Z","date_published":"2018-03-13T15:49:22Z","updated_at":"2026-07-22T22:24:37Z","subjects":["Legless jumping","Click beetle inspired robot"],"languages":["en"],"rights":["Copyright 2017 Ophelia Bolmin"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/99439","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Wissa, Aimy A"]},{"key":"dc:creator","label":"Author","values":["Bolmin, Ophelia"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2018-03-13T15:49:22Z","2017-12-15","2017-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Legless jumping","Click beetle inspired robot"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2017 Ophelia Bolmin"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/99439"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Click beetles (Coleoptera: Elateridae) have evolved a unique jumping mechanism to right themselves when on their dorsal side without using their legs or any other appendages. This work describes and analyzes the stages of the click beetle jump using high-speed video recordings and scanning electron micrographs of six beetle species, namely Alaus oculatus, Ampedus linteus, Hemicrepidius sp., Melanactes sp., Melanotus spp. and Parallelosthetus attenuatus. The jump of the click beetle is divided into three consecutive stages: the pre-jump stage (energy storage), and the take-off and airborne stages (energy release). Morphological measurements of the previously mentioned species as well as three additional species, namely Agriotes sp., Athous sp. and Lacon discoideus are taken, and isometric scaling across the species is observed. The body of the click beetle is considered as two masses linked by a hinge. Dynamic and kinematic models of the jump stages are developed. Non-dimensional analysis of the airborne stage is used to analyze the jump and identify the contribution of kinematic and morphological governing parameters. An energetics model is developed to describe the energy exchanges between the three stages of the jump. Kinematic and dynamic models are used to calculate the hinge stiffness and the elastic energy stored in the body during the jump. The derived models provide a framework that will be used for the design of a click beetle inspired self-righting robot.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2018-03-13 without embargo terms","The student, Ophelia Bolmin, accepted the attached license on 2017-12-14 at 23:25.","The student, Ophelia Bolmin, submitted this Thesis for approval on 2017-12-14 at 23:36.","This Thesis was approved for publication on 2017-12-15 at 08:52.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11989 on 2018-03-13 at 10:12:52","Made available in DSpace on 2018-03-13T15:49:22Z (GMT). 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This work describes and analyzes the stages of the click beetle jump using high-speed video recordings and scanning electron micrographs of six beetle species, namely Alaus oculatus, Ampedus linteus, Hemicrepidius sp., Melanactes sp., Melanotus spp. and Parallelosthetus attenuatus. The jump of the click beetle is divided into three consecutive stages: the pre-jump stage (energy storage), and the take-off and airborne stages (energy release). Morphological measurements of the previously mentioned species as well as three additional species, namely Agriotes sp., Athous sp. and Lacon discoideus are taken, and isometric scaling across the species is observed. The body of the click beetle is considered as two masses linked by a hinge. Dynamic and kinematic models of the jump stages are developed. Non-dimensional analysis of the airborne stage is used to analyze the jump and identify the contribution of kinematic and morphological governing parameters. An energetics model is developed to describe the energy exchanges between the three stages of the jump. Kinematic and dynamic models are used to calculate the hinge stiffness and the elastic energy stored in the body during the jump. The derived models provide a framework that will be used for the design of a click beetle inspired self-righting robot.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2018-03-13 without embargo terms","The student, Ophelia Bolmin, accepted the attached license on 2017-12-14 at 23:25.","The student, Ophelia Bolmin, submitted this Thesis for approval on 2017-12-14 at 23:36.","This Thesis was approved for publication on 2017-12-15 at 08:52.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11989 on 2018-03-13 at 10:12:52","Made available in DSpace on 2018-03-13T15:49:22Z (GMT). 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