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Ke X, Yong H, Xu F, Ding H, Wu Z. Stenus-inspired, swift, and agile untethered insect-scale soft propulsors. Nat Commun 2024; 15:1491. [PMID: 38374180 PMCID: PMC10876683 DOI: 10.1038/s41467-024-45997-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Accepted: 02/09/2024] [Indexed: 02/21/2024] Open
Abstract
Mimicking living creatures, soft robots exhibit incomparable adaptability and various attractive new features. However, untethered insect-scale soft robots are often plagued with inferior controllability and low kinetic performance. Systematically inspired by the swift swingable abdomen, conducting canals for secretion transport, and body setae of Stenus comma, together with magnetic-induced fast-transformed postures, herein, we present a swift, agile untethered millimetre-scale soft propulsor propelling on water. The demonstrated propulsor, with a body length (BL) of 3.6 mm, achieved a recorded specific speed of ~201 BL/s and acceleration of ~8,372 BL/s2. The comprehensive kinetic performance of this propulsor surpasses those of previous ones at similar scales by several orders. Notably, we discovered momentum-transfer-induced over-biological on-demand braking (deceleration ~-5,010 BL/s2) and elucidated the underlying hydrodynamics. This work offers new insights into systematically bio-inspired artificial insect-scale soft robots, enabling them to push boundaries in performance, and potentially revolutionizing robot design, optimization, and control paradigms.
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Affiliation(s)
- Xingxing Ke
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Haochen Yong
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Fukang Xu
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Han Ding
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China
| | - Zhigang Wu
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China.
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Bijma NN, Billeschou P, Baird E, Dacke M, Kovalev A, Filippov AE, Manoonpong P, Gorb SN. The effect of surface topography on the ball-rolling ability of Kheper lamarcki (Scarabaeidae). J Exp Biol 2024; 227:jeb245920. [PMID: 38018408 DOI: 10.1242/jeb.245920] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/12/2023] [Accepted: 11/21/2023] [Indexed: 11/30/2023]
Abstract
The most effective way to avoid intense inter- and intra-specific competition at the dung source, and to increase the distance to the other competitors, is to follow a single straight bearing. While ball-rolling dung beetles manage to roll their dung balls along nearly perfect straight paths when traversing flat terrain, the paths that they take when traversing more complex (natural) terrain are not well understood. In this study, we investigate the effect of complex surface topographies on the ball-rolling ability of Kheper lamarcki. Our results reveal that ball-rolling trajectories are strongly influenced by the characteristic scale of the surface structure. Surfaces with an increasing similarity between the average distance of elevations and the ball radius cause progressively more difficulties during ball transportation. The most important factor causing difficulties in ball transportation appears to be the slope of the substrate. Our results show that, on surfaces with a slope of 7.5 deg, more than 60% of the dung beetles lose control of their ball. Although dung beetles still successfully roll their dung ball against the slope on such inclinations, their ability to roll the dung ball sideways diminishes. However, dung beetles do not seem to adapt their path on inclines such that they roll their ball in the direction against the slope. We conclude that dung beetles strive for a straight trajectory away from the dung pile, and that their actual path is the result of adaptations to particular surface topographies.
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Affiliation(s)
- Nienke N Bijma
- Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
| | - Peter Billeschou
- SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute University of Southern Denmark, Campusvej 55, Odense M DK-5230, Denmark
| | - Emily Baird
- Department of Functional Zoomorphology, Stockholm University, Svante Arrhenius väg 18b, 11418 Stockholm, Sweden
- Lund Vision Group, Department of Biology, Lund University, Sölvegatan 35, 223 62 Lund, Sweden
| | - Marie Dacke
- Lund Vision Group, Department of Biology, Lund University, Sölvegatan 35, 223 62 Lund, Sweden
| | - Alexander Kovalev
- Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
| | - Alexander E Filippov
- Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
- Donetsk Institute for Physics and Engineering, National Academy of Sciences of Ukraine, 83114 Donetsk, Ukraine
| | - Poramate Manoonpong
- SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute University of Southern Denmark, Campusvej 55, Odense M DK-5230, Denmark
- Bio-inspired Robotics & Neural Engineering Lab, Vidyasirimedhi Institute of Science and Technology, 21210 Rayong, Thailand
| | - Stanislav N Gorb
- Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
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Koehnsen A, Gorb SN, Büsse S. A switchable joint in the head of dragonfly larvae (Insecta: Odonata) as key to the multifunctionality of the prehensile labial mask. JOURNAL OF EXPERIMENTAL ZOOLOGY. PART A, ECOLOGICAL AND INTEGRATIVE PHYSIOLOGY 2023. [PMID: 37186461 DOI: 10.1002/jez.2706] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/16/2022] [Revised: 03/03/2023] [Accepted: 04/12/2023] [Indexed: 05/17/2023]
Abstract
Dragonfly and damselfly larvae (Insecta: Odonata) capture prey by rapid protraction of a raptorial mouthpart, based on a modified labium. Yet, in insects with biting-chewing mouthparts, the labium has an essential role in food handling. These two distinct functions -prey capturing and handling-lead to a mechanical problem in Odonata larvae: while the labium is always protracted in a straight line during prey capture, food handling requires more dexterity. In this study, we investigate the role of the labium in the feeding process and analyse the mechanics of the labial joints in the dragonfly larva Anax imperator. Our results show that the labium features a multiaxial joint connecting the basal segment (postmentum) and the head. During feeding, a combination of rotations around different axes is used to handle and orient prey, which is unique among biting-chewing mouthparts. Furthermore, we identified structures at the joint which likely restrict lateral motion during the predatory strike. Our results provide a further understanding of the unique prey-capturing apparatus of odonate larvae capable of controlling a 'switchable' multiaxial to a restricted monoaxial joint. This concept highlights the evolution of a highly modified raptorial mouthpart appendage where the degrees of freedom can be actively restricted to allow for the respectively needed functionality.
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Affiliation(s)
- Alexander Koehnsen
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Kiel, Germany
| | - Stanislav N Gorb
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Kiel, Germany
| | - Sebastian Büsse
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Kiel, Germany
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Büsse S, Koehnsen A, Rajabi H, Gorb SN. A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae's predatory strike. Sci Robot 2021; 6:6/50/eabc8170. [PMID: 34043578 DOI: 10.1126/scirobotics.abc8170] [Citation(s) in RCA: 12] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/15/2020] [Accepted: 12/17/2020] [Indexed: 01/25/2023]
Abstract
The biomechanics underlying the predatory strike of dragonfly larvae is not yet understood. Dragonfly larvae are aquatic ambush predators, capturing their prey with a strongly modified extensible mouthpart. The current theory of hydraulic pressure being the driving force of the predatory strike can be refuted by our manipulation experiments and reinterpretation of former studies. Here, we report evidence for an independently loaded synchronized dual-catapult system. To power the ballistic movement of a single specialized mouthpart, two independently loaded springs simultaneously release and actuate two separate joints in a kinematic chain. Energy for the movement is stored by straining an elastic structure at each joint and, possibly, the surrounding cuticle, which is preloaded by muscle contraction. As a proof of concept, we developed a bioinspired robotic model resembling the morphology and functional principle of the extensible mouthpart. Understanding the biomechanics of the independently loaded synchronized dual-catapult system found in dragonfly larvae can be used to control the extension direction and, thereby, thrust vector of a power-modulated robotic system.
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Affiliation(s)
- Sebastian Büsse
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany.
| | - Alexander Koehnsen
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
| | - Hamed Rajabi
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
| | - Stanislav N Gorb
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
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