Dual Spring Systems in Biological and Robotic Systems

Abstract: Some of the most impressively fast movements are found in small biological systems, from the strikes of trap-jaw ants to and snaps of shrimp. These movements all come under the framework of latch-mediated spring actuation (LaMSA) systems. These LaMSA systems store potential energy in a spring, the spring is then released with a latch. Biological systems in particular make use tightly integrated geometric and material features to store elastic energy in more than one location. Recent discoveries in trap jaw ants (Odontomachus brunneus) and snapping shrimp (Alpheus heterochaelis) show that these impressive movements are actuated by multiple springs working together to close jaws and snap claws. These dual spring systems may be used by many spring-actuated biological systems, but how are these principles abstracted to robotics? Moreover, what new abilities are conferred in a robotic system, and what might be restricted?

To begin to answer these questions, biological systems will be dissected to understand the mechanisms driving these movements, and engineering models will allow an exploration of these spaces far beyond what is seen in biology. Through this, limitations will be identified for the various components that contribute to these impressive movements. These limitations will form a framework for navigating the trade-offs in design and control as we look toward making similarly impressively fast engineered systems.