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Cornejo J, Sierra-Garcia JE, Gomez-Gil FJ, Weitzenfeld A, Acevedo FE, Escalante I, Recuero E, Wehrtmann IS. Bio-inspired design of hard-bodied mobile robots based on arthropod morphologies: a 10 year systematic review and bibliometric analysis. BIOINSPIRATION & BIOMIMETICS 2024; 19:051001. [PMID: 38866026 DOI: 10.1088/1748-3190/ad5778] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/05/2024] [Accepted: 06/12/2024] [Indexed: 06/14/2024]
Abstract
This research presents a 10-year systematic review based on bibliometric analysis of the bio-inspired design of hard-bodied mobile robot mechatronic systems considering the anatomy of arthropods. These are the most diverse group of animals whose flexible biomechanics and adaptable morphology, thus, it can inspire robot development. Papers were reviewed from two international databases (Scopus and Web of Science) and one platform (Aerospace Research Central), then they were classified according to: Year of publication (January 2013 to April 2023), arthropod group, published journal, conference proceedings, editorial publisher, research teams, robot classification according to the name of arthropod, limb's locomotion support, number of legs/arms, number of legs/body segments, limb's degrees of freedom, mechanical actuation type, modular system, and environment adaptation. During the screening, more than 33 000 works were analyzed. Finally, a total of 174 studies (90 journal-type, 84 conference-type) were selected for in-depth study: Insecta-hexapods (53.8%), Arachnida-octopods (20.7%), Crustacea-decapods (16.1%), and Myriapoda-centipedes and millipedes (9.2%). The study reveals that the most active editorials are the Institute of Electrical and Electronics Engineers Inc., Springer, MDPI, and Elsevier, while the most influential researchers are located in the USA, China, Singapore, and Japan. Most works pertained to spiders, crabs, caterpillars, cockroaches, and centipedes. We conclude that 'arthrobotics' research, which merges arthropods and robotics, is constantly growing and includes a high number of relevant studies with findings that can inspire new methods to design biomechatronic systems.
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Affiliation(s)
- José Cornejo
- Department of Electromechanical Engineering, University of Burgos, 09006 Burgos, Spain
| | | | | | - Alfredo Weitzenfeld
- Biorobotics Laboratory, Department of Computer Science and Engineering, University of South Florida, Tampa, FL, United States of America
| | - Flor E Acevedo
- Department of Entomology, The Pennsylvania State University, University Park, PA, United States of America
| | - Ignacio Escalante
- Department of Biological Sciences, University of Illinois-Chicago, 845 W Taylor St, Chicago, IL 60607, United States of America
| | - Ernesto Recuero
- Department of Plant & Environmental Sciences, 277 Poole Agricultural Center, Clemson University, Clemson, SC 29634-0310, United States of America
| | - Ingo S Wehrtmann
- Centro de Investigación en Ciencias del Mar y Limnología (CIMAR), Universidad de Costa Rica, 11501-2060 San José, Costa Rica
- Escuela de Biología, Universidad de Costa Rica, 11501-2060 San José, Costa Rica
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Mingchinda N, Jaiton V, Leung B, Manoonpong P. Leg-body coordination strategies for obstacle avoidance and narrow space navigation of multi-segmented, legged robots. Front Neurorobot 2023; 17:1214248. [PMID: 38023449 PMCID: PMC10663368 DOI: 10.3389/fnbot.2023.1214248] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2023] [Accepted: 10/13/2023] [Indexed: 12/01/2023] Open
Abstract
Introduction Millipedes can avoid obstacle while navigating complex environments with their multi-segmented body. Biological evidence indicates that when the millipede navigates around an obstacle, it first bends the anterior segments of its corresponding anterior segment of its body, and then gradually propagates this body bending mechanism from anterior to posterior segments. Simultaneously, the stride length between pairs of legs inside the bending curve decreases to coordinate the leg motions with the bending mechanism of the body segments. In robotics, coordination between multiple legs and body segments during turning for navigating in complex environments, e.g., narrow spaces, has not been fully realized in multi-segmented, multi-legged robots with more than six legs. Method To generate the efficient obstacle avoidance turning behavior in a multi-segmented, multi-legged (millipede-like) robot, this study explored three possible strategies of leg and body coordination during turning: including the local leg and body coordination at the segment level in a manner similar to millipedes, global leg amplitude change in response to different turning directions (like insects), and the phase reversal of legs inside of turning curve during obstacle avoidance (typical engineering approach). Results Using sensory inputs obtained from the antennae located at the robot head and recurrent neural control, different turning strategies were generated, with gradual body bending propagation from the anterior to posterior body segments. Discussion We discovered differences in the performance of each turning strategy, which could guide the future control development of multi-segmented, legged robots.
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Affiliation(s)
- Nopparada Mingchinda
- Bio-Inspired Robotics and Neural Engineering Laboratory, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
| | - Vatsanai Jaiton
- Bio-Inspired Robotics and Neural Engineering Laboratory, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
| | - Binggwong Leung
- Bio-Inspired Robotics and Neural Engineering Laboratory, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
| | - Poramate Manoonpong
- Bio-Inspired Robotics and Neural Engineering Laboratory, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
- Embodied AI and Neurorobotics Laboratory, SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark
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Aoi S, Yabuuchi Y, Morozumi D, Okamoto K, Adachi M, Senda K, Tsuchiya K. Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation. Soft Robot 2023; 10:1028-1040. [PMID: 37231619 PMCID: PMC10616954 DOI: 10.1089/soro.2022.0177] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/27/2023] Open
Abstract
Legged robots have remarkable terrestrial mobility, but are susceptible to falling and leg malfunction during locomotion. The use of a large number of legs, as in centipedes, can overcome these problems, but it makes the body long and leads to many legs being constrained to contact with the ground to support the long body, which impedes maneuverability. A mechanism for maneuverable locomotion using a large number legs is thus desirable. However, controlling a long body with a large number of legs requires huge computational and energy costs. Inspired by agile locomotion in biological systems, this study proposes a control strategy for maneuverable and efficient locomotion of a myriapod robot based on dynamic instability. Specifically, our previous study made the body axis of a 12-legged robot flexible and showed that changing the body-axis flexibility produces pitchfork bifurcation. The bifurcation not only induces the dynamic instability of a straight walk but also a transition to a curved walk, whose curvature is controllable by the body-axis flexibility. This study incorporated a variable stiffness mechanism into the body axis and developed a simple control strategy based on the bifurcation characteristics. With this strategy, maneuverable and autonomous locomotion was achieved, as demonstrated by multiple robot experiments. Our approach does not directly control the movement of the body axis; instead, it controls body-axis flexibility, which significantly reduces computational and energy costs. This study provides a new design principle for maneuverable and efficient locomotion of myriapod robots.
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Affiliation(s)
- Shinya Aoi
- Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan
| | - Yuki Yabuuchi
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Daiki Morozumi
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Kota Okamoto
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Mau Adachi
- Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan
| | - Kei Senda
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Kazuo Tsuchiya
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
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Er GD, Ankarali MM. Stochastic stability analysis of legged locomotion using unscented transformation. BIOINSPIRATION & BIOMIMETICS 2023; 18:066006. [PMID: 37659405 DOI: 10.1088/1748-3190/acf634] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/04/2023] [Accepted: 09/01/2023] [Indexed: 09/04/2023]
Abstract
In this manuscript, we present a novel method for estimating the stochastic stability characteristics of metastable legged systems using the unscented transformation. Prior methods for stability analysis in such systems often required high-dimensional state space discretization and a broad set of initial conditions, resulting in significant computational complexity. Our approach aims to alleviate this issue by reducing the dimensionality of the system and utilizing the unscented transformation to estimate the output distribution. This technique allows us to account for multiple sources of uncertainty and high-dimensional system dynamics, while leveraging prior knowledge of noise statistics to inform the selection of initial conditions for experiments. As a result, our method enables the efficient assessment of controller performance and analysis of parametric dependencies with fewer experiments. To demonstrate the efficacy of our proposed method, we apply it to the analysis of a one-dimensional hopper and an underactuated bipedal walking simulation with a hybrid zero dynamics controller.
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Affiliation(s)
- Güner Dilsad Er
- Middle East Technical University (METU), Ankara, Turkey
- Max Planck Institute for Intelligent Systems, Tübingen, Germany
| | - Mustafa Mert Ankarali
- Middle East Technical University (METU), Ankara, Turkey
- METU Robotics and AI Technologies Application and Research Center (METU-ROMER), Department of Electrical and Electronics Engineering, Middle East Technical University (METU), Ankara, Turkey
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Chong B, He J, Soto D, Wang T, Irvine D, Blekherman G, Goldman DI. Multilegged matter transport: A framework for locomotion on noisy landscapes. Science 2023; 380:509-515. [PMID: 37141349 DOI: 10.1126/science.ade4985] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
Whereas the transport of matter by wheeled vehicles or legged robots can be guaranteed in engineered landscapes such as roads or rails, locomotion prediction in complex environments such as collapsed buildings or crop fields remains challenging. Inspired by the principles of information transmission, which allow signals to be reliably transmitted over "noisy" channels, we developed a "matter-transport" framework that demonstrates that noninertial locomotion can be provably generated over noisy rugose landscapes (heterogeneities on the scale of locomotor dimensions). Experiments confirm that sufficient spatial redundancy in the form of serially connected legged robots leads to reliable transport on such terrain without requiring sensing and control. Further analogies from communication theory coupled with advances in gaits (coding) and sensor-based feedback control (error detection and correction) can lead to agile locomotion in complex terradynamic regimes.
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Affiliation(s)
- Baxi Chong
- Interdisciplinary Graduate Program in Quantitative Biosciences, Georgia Institute of Technology, North Avenue, Atlanta, GA 30332, USA
- School of Physics, Georgia Institute of Technology, 837 State St NW, Atlanta, GA 30332, USA
| | - Juntao He
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA 30332, USA
| | - Daniel Soto
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA 30332, USA
| | - Tianyu Wang
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA 30332, USA
| | - Daniel Irvine
- School of Mathematics, Georgia Institute of Technology, 686 Cherry St NW, Atlanta, GA 30332, USA
| | - Grigoriy Blekherman
- School of Mathematics, Georgia Institute of Technology, 686 Cherry St NW, Atlanta, GA 30332, USA
| | - Daniel I Goldman
- Interdisciplinary Graduate Program in Quantitative Biosciences, Georgia Institute of Technology, North Avenue, Atlanta, GA 30332, USA
- School of Physics, Georgia Institute of Technology, 837 State St NW, Atlanta, GA 30332, USA
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA 30332, USA
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6
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Chong B, He J, Li S, Erickson E, Diaz K, Wang T, Soto D, Goldman DI. Self-propulsion via slipping: Frictional swimming in multilegged locomotors. Proc Natl Acad Sci U S A 2023; 120:e2213698120. [PMID: 36897978 PMCID: PMC10089174 DOI: 10.1073/pnas.2213698120] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/10/2022] [Accepted: 01/25/2023] [Indexed: 03/12/2023] Open
Abstract
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium or on solid substrates dominated by friction. In the former, centralized whole-body coordination is believed to facilitate appropriate slipping through the medium for propulsion. In the latter, slip is often assumed minimal and thus avoided via decentralized control schemes. We find in laboratory experiments that terrestrial locomotion of a meter-scale multisegmented/legged robophysical model resembles undulatory fluid swimming. Experiments varying waves of leg stepping and body bending reveal how these parameters result in effective terrestrial locomotion despite seemingly ineffective isotropic frictional contacts. Dissipation dominates over inertial effects in this macroscopic-scaled regime, resulting in essentially geometric locomotion on land akin to microscopic-scale swimming in fluids. Theoretical analysis demonstrates that the high-dimensional multisegmented/legged dynamics can be simplified to a centralized low-dimensional model, which reveals an effective resistive force theory with an acquired viscous drag anisotropy. We extend our low-dimensional, geometric analysis to illustrate how body undulation can aid performance in non-flat obstacle-rich terrains and also use the scheme to quantitatively model how body undulation affects performance of biological centipede locomotion (the desert centipede Scolopendra polymorpha) moving at relatively high speeds (∼0.5 body lengths/sec). Our results could facilitate control of multilegged robots in complex terradynamic scenarios.
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Affiliation(s)
- Baxi Chong
- Interdisciplinary Graduate Program in Quantitative Biosciences, Georgia Institute of Technology, Atlanta, GA30332
- School of Physics, Georgia Institute of Technology, Atlanta, GA30332
| | - Juntao He
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA30332
| | - Shengkai Li
- School of Physics, Georgia Institute of Technology, Atlanta, GA30332
| | - Eva Erickson
- School of Physics, Georgia Institute of Technology, Atlanta, GA30332
| | - Kelimar Diaz
- Interdisciplinary Graduate Program in Quantitative Biosciences, Georgia Institute of Technology, Atlanta, GA30332
- School of Physics, Georgia Institute of Technology, Atlanta, GA30332
| | - Tianyu Wang
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA30332
| | - Daniel Soto
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA30332
| | - Daniel I. Goldman
- Interdisciplinary Graduate Program in Quantitative Biosciences, Georgia Institute of Technology, Atlanta, GA30332
- School of Physics, Georgia Institute of Technology, Atlanta, GA30332
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA30332
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7
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Chong B, O Aydin Y, Rieser JM, Sartoretti G, Wang T, Whitman J, Kaba A, Aydin E, McFarland C, Diaz Cruz K, Rankin JW, Michel KB, Nicieza A, Hutchinson JR, Choset H, Goldman DI. A general locomotion control framework for multi-legged locomotors. BIOINSPIRATION & BIOMIMETICS 2022; 17:046015. [PMID: 35533656 DOI: 10.1088/1748-3190/ac6e1b] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/01/2022] [Accepted: 05/09/2022] [Indexed: 06/14/2023]
Abstract
Serially connected robots are promising candidates for performing tasks in confined spaces such as search and rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve mobility. However, a challenge in designing and controlling such devices lies in the coordination of high-dimensional redundant modules in a way that improves mobility. Here we develop a general framework to discover templates to control serially connected multi-legged robots. Specifically, we combine two approaches to build a general shape control scheme which can provide baseline patterns of self-deformation ('gaits') for effective locomotion in diverse robot morphologies. First, we take inspiration from a dimensionality reduction and a biological gait classification scheme to generate cyclic patterns of body deformation and foot lifting/lowering, which facilitate the generation of arbitrary substrate contact patterns. Second, we extend geometric mechanics, which was originally introduced to study swimming at low Reynolds numbers, to frictional environments, allowing the identification of optimal body-leg coordination in this common terradynamic regime. Our scheme allows the development of effective gaits on flat terrain with diverse numbers of limbs (4, 6, 16, and even 0 limbs) and backbone actuation. By properly coordinating the body undulation and leg placement, our framework combines the advantages of both limbless robots (modularity and narrow profile) and legged robots (mobility). Our framework can provide general control schemes for the rapid deployment of general multi-legged robots, paving the way toward machines that can traverse complex environments. In addition, we show that our framework can also offer insights into body-leg coordination in living systems, such as salamanders and centipedes, from a biomechanical perspective.
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Affiliation(s)
- Baxi Chong
- Georgia Institute of Technology, North Ave NW, Atlanta, GA 30332, United States of America
| | - Yasemin O Aydin
- University of Notre Dame, Notre Dame, IN 46556, United States of America
| | - Jennifer M Rieser
- Emory University, 201 Dowman Dr, Atlanta, GA 30322, United States of America
| | | | - Tianyu Wang
- Georgia Institute of Technology, North Ave NW, Atlanta, GA 30332, United States of America
| | - Julian Whitman
- Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, United States of America
| | - Abdul Kaba
- Morehouse College, 830 Westview Dr SW, Atlanta, GA 30314, United States of America
| | - Enes Aydin
- University of Notre Dame, Notre Dame, IN 46556, United States of America
| | - Ciera McFarland
- University of Notre Dame, Notre Dame, IN 46556, United States of America
| | - Kelimar Diaz Cruz
- Georgia Institute of Technology, North Ave NW, Atlanta, GA 30332, United States of America
| | - Jeffery W Rankin
- Rancho Research Institute, 7601 Imperial Hwy, Downey, CA 90242, United States of America
| | - Krijn B Michel
- Royal Veterinary College, 4 Royal College St, London NW1 0TU, United Kingdom
| | - Alfredo Nicieza
- Biodiversity Research Institute (IMIB), University of Oviedo-Principality of Asturias-CSIC, 33600 Mieres, Spain
| | - John R Hutchinson
- Royal Veterinary College, 4 Royal College St, London NW1 0TU, United Kingdom
| | - Howie Choset
- Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, United States of America
| | - Daniel I Goldman
- Georgia Institute of Technology, North Ave NW, Atlanta, GA 30332, United States of America
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Ambe Y, Aoi S, Tsuchiya K, Matsuno F. Generation of Direct-, Retrograde-, and Source-Wave Gaits in Multi-Legged Locomotion in a Decentralized Manner via Embodied Sensorimotor Interaction. Front Neural Circuits 2021; 15:706064. [PMID: 34552472 PMCID: PMC8450536 DOI: 10.3389/fncir.2021.706064] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/06/2021] [Accepted: 08/02/2021] [Indexed: 11/13/2022] Open
Abstract
Multi-legged animals show several types of ipsilateral interlimb coordination. Millipedes use a direct-wave gait, in which the swing leg movements propagate from posterior to anterior. In contrast, centipedes use a retrograde-wave gait, in which the swing leg movements propagate from anterior to posterior. Interestingly, when millipedes walk in a specific way, both direct and retrograde waves of the swing leg movements appear with the waves' source, which we call the source-wave gait. However, the gait generation mechanism is still unclear because of the complex nature of the interaction between neural control and dynamic body systems. The present study used a simple model to understand the mechanism better, primarily how local sensory feedback affects multi-legged locomotion. The model comprises a multi-legged body and its locomotion control system using biologically inspired oscillators with local sensory feedback, phase resetting. Each oscillator controls each leg independently. Our simulation produced the above three types of animal gaits. These gaits are not predesigned but emerge through the interaction between the neural control and dynamic body systems through sensory feedback (embodied sensorimotor interaction) in a decentralized manner. The analytical description of these gaits' solution and stability clarifies the embodied sensorimotor interaction's functional roles in the interlimb coordination.
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Affiliation(s)
- Yuichi Ambe
- Tough Cyberphysical AI Research Center, Tohoku University, Sendai, Japan
| | - Shinya Aoi
- Department of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan
| | - Kazuo Tsuchiya
- Department of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan
| | - Fumitoshi Matsuno
- Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan
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9
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David I, Ayali A. From Motor-Output to Connectivity: An In-Depth Study of in-vitro Rhythmic Patterns in the Cockroach Periplaneta americana. FRONTIERS IN INSECT SCIENCE 2021; 1:655933. [PMID: 38468881 PMCID: PMC10926548 DOI: 10.3389/finsc.2021.655933] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 01/21/2021] [Accepted: 04/22/2021] [Indexed: 03/13/2024]
Abstract
The cockroach is an established model in the study of locomotion control. While previous work has offered important insights into the interplay among brain commands, thoracic central pattern generators, and the sensory feedback that shapes their motor output, there remains a need for a detailed description of the central pattern generators' motor output and their underlying connectivity scheme. To this end, we monitored pilocarpine-induced activity of levator and depressor motoneurons in two types of novel in-vitro cockroach preparations: isolated thoracic ganglia and a whole-chain preparation comprising the thoracic ganglia and the subesophageal ganglion. Our data analyses focused on the motoneuron firing patterns and the coordination among motoneuron types in the network. The burstiness and rhythmicity of the motoneurons were monitored, and phase relations, coherence, coupling strength, and frequency-dependent variability were analyzed. These parameters were all measured and compared among network units both within each preparation and among the preparations. Here, we report differences among the isolated ganglia, including asymmetries in phase and coupling strength, which indicate that they are wired to serve different functions. We also describe the intrinsic default gait and a frequency-dependent coordination. The depressor motoneurons showed mostly similar characteristics throughout the network regardless of interganglia connectivity; whereas the characteristics of the levator motoneurons activity were mostly ganglion-dependent, and influenced by the presence of interganglia connectivity. Asymmetries were also found between the anterior and posterior homolog parts of the thoracic network, as well as between ascending and descending connections. Our analyses further discover a frequency-dependent inversion of the interganglia coordination from alternations between ipsilateral homolog oscillators to simultaneous activity. We present a detailed scheme of the network couplings, formulate coupling rules, and review a previously suggested model of connectivity in light of our new findings. Our data support the notion that the inter-hemiganglia coordination derives from the levator networks and their coupling with local depressor interneurons. Our findings also support a dominant role of the metathoracic ganglion and its ascending output in governing the anterior ganglia motor output during locomotion in the behaving animal.
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Affiliation(s)
- Izhak David
- School of Zoology, Tel Aviv University, Tel Aviv, Israel
| | - Amir Ayali
- School of Zoology, Tel Aviv University, Tel Aviv, Israel
- Sagol School of Neuroscience, Tel Aviv University, Tel Aviv, Israel
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Garcia A, Krummel G, Priya S. Fundamental understanding of millipede morphology and locomotion dynamics. BIOINSPIRATION & BIOMIMETICS 2020; 16. [PMID: 33007767 DOI: 10.1088/1748-3190/abbdcc] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2020] [Accepted: 10/02/2020] [Indexed: 05/06/2023]
Abstract
A detailed model for the locomotory mechanics used by millipedes is provided here through systematic experimentation on the animal and validation of observations through a biomimetic robotic platform. Millipedes possess a powerful gait that is necessary for generating large thrust force required for proficient burrowing. Millipedes implement a metachronal gait through movement of many legs that generates a traveling wave. This traveling wave is modulated by the animal to control the magnitude of thrust force in the direction of motion for burrowing, climbing, or walking. The quasi-static model presented for the millipede locomotion mechanism matches experimental observations on live millipedes and results obtained from a biomimetic robotic platform. The model addresses questions related to the unique morphology of millipedes with respect to their locomotory performance. A complete understanding of the physiology of millipedes and mechanisms that provide modulation of the traveling wave locomotion using a metachronal gait to increase their forward thrust is provided. Further, morphological features needed to optimize various locomotory and burrowing functions are discussed. Combined, these results open opportunity for development of biologically inspired locomotory methods for miniaturized robotic platforms traversing terrains and substrates that present large resistances.
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Affiliation(s)
- Anthony Garcia
- Center for Energy Harvesting Materials and Systems (CEHMS), Bio-Inspired Materials and Devices Laboratory (BMDL), Virginia Tech, Blacksburg, VA 24061, United States of America
- University of Mary, Bismarck ND 58504, United States of America
| | - Gregory Krummel
- Center for Energy Harvesting Materials and Systems (CEHMS), Bio-Inspired Materials and Devices Laboratory (BMDL), Virginia Tech, Blacksburg, VA 24061, United States of America
| | - Shashank Priya
- Center for Energy Harvesting Materials and Systems (CEHMS), Bio-Inspired Materials and Devices Laboratory (BMDL), Virginia Tech, Blacksburg, VA 24061, United States of America
- Department of Material Science and Engineering, Pennsylvania State University Park, PA 16802, United States of America
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12
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Analysis of body undulation using dynamic model with frictional force for myriapod robot. ARTIFICIAL LIFE AND ROBOTICS 2020. [DOI: 10.1007/s10015-020-00610-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
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13
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Duysens J, Forner-Cordero A. Walking with perturbations: a guide for biped humans and robots. BIOINSPIRATION & BIOMIMETICS 2018; 13:061001. [PMID: 30109860 DOI: 10.1088/1748-3190/aada54] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
This paper provides an update on the neural control of bipedal walking in relation to bioinspired models and robots. It is argued that most current models or robots are based on the construct of a symmetrical central pattern generator (CPG). However, new evidence suggests that CPG functioning is basically asymmetrical with its flexor half linked more tightly to the rhythm generator. The stability of bipedal gait, which is an important problem for robots and biological systems, is also addressed. While it is not possible to determine how biological biped systems guarantee stability, robot solutions can be useful to propose new hypotheses for biology. In the second part of this review, the focus is on gait perturbations, which is an important topic in robotics in view of the frequent falls of robots when faced with perturbations. From the human physiology it is known that the initial reaction often consists of a brief interruption followed by an adequate response. For instance, the successful recovery from a trip is achieved using some basic reactions (termed elevating and lowering strategies), that depend on the phase of the step cycle of the trip occurrence. Reactions to stepping unexpectedly in a hole depend on comparing expected and real feedback. Implementation of these ideas in models and robotics starts to emerge, with the most advanced robots being able to learn how to fall safely and how to deal with complicated disturbances such as provided by walking on a split-belt.
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Affiliation(s)
- Jacques Duysens
- Biomechatronics Lab., Mechatronics Department, Escola Politécnica da Universidade de São Paulo, Av. Prof. Mello Moraes, 2231, Cidade Universitária 05508-030, São Paulo-SP, Brasil. Department of Kinesiology, FaBeR, Katholieke Universiteit Leuven, Leuven, Belgium
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Aoi S, Manoonpong P, Ambe Y, Matsuno F, Wörgötter F. Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review. Front Neurorobot 2017; 11:39. [PMID: 28878645 PMCID: PMC5572352 DOI: 10.3389/fnbot.2017.00039] [Citation(s) in RCA: 59] [Impact Index Per Article: 8.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/26/2016] [Accepted: 07/31/2017] [Indexed: 12/02/2022] Open
Abstract
Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptation mechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.
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Affiliation(s)
- Shinya Aoi
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto UniversityKyoto, Japan
| | - Poramate Manoonpong
- Embodied AI & Neurorobotics Lab, Centre for Biorobotics, Mærsk Mc-Kinney Møller Institute, University of Southern DenmarkOdense, Denmark
| | - Yuichi Ambe
- Department of Applied Information Sciences, Graduate School of Information Sciences, Tohoku UniversityAoba-ku, Japan
| | - Fumitoshi Matsuno
- Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto UniversityKyoto, Japan
| | - Florentin Wörgötter
- Bernstein Center for Computational Neuroscience, Third Institute of Physics, Georg-August-Universität GöttingenGöttingen, Germany
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Development of a small and lightweight myriapod robot using passive dynamics. ARTIFICIAL LIFE AND ROBOTICS 2017. [DOI: 10.1007/s10015-017-0378-x] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/27/2022]
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Kinugasa T, Sugimoto Y. Dynamically and Biologically Inspired Legged Locomotion: A Review. JOURNAL OF ROBOTICS AND MECHATRONICS 2017. [DOI: 10.20965/jrm.2017.p0456] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
[abstFig src='/00290003/01.jpg' width='300' text='Passive dynamic walking: RW03 and Jenkka III' ] Legged locomotion, such as walking, running, turning, and jumping depends strongly on the dynamics and the biological characteristics of the body involved. Gait patterns and energy efficiency, for instance, are known to be greatly affected, not only by travel speed and ground contact conditions but also by body structure such as joint stiffness and coordination, and foot sole shape. To understand legged locomotion principles, we must elucidate how the body’s dynamic and biological characteristics affect locomotion. Efforts should also be made to incorporate these characteristics inventively in order to improve locomotion performance with regard to robustness, adaptability, and efficiency, which realize more refined legged locomotion. For this special issue, we invited our readers to submit papers with approaches to achieving legged locomotion based on dynamic and biological characteristics and studies investigating the effects of these characteristics. In this paper, we review studies on dynamically and biologically inspired legged locomotion.
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Kano T, Sakai K, Yasui K, Owaki D, Ishiguro A. Decentralized control mechanism underlying interlimb coordination of millipedes. BIOINSPIRATION & BIOMIMETICS 2017; 12:036007. [PMID: 28375850 DOI: 10.1088/1748-3190/aa64a5] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/07/2023]
Abstract
Legged animals exhibit adaptive and resilient locomotion through interlimb coordination. The long-term goal of this study is to clarify the relationship between the number of legs and the inherent decentralized control mechanism for interlimb coordination. As a preliminary step, the study focuses on millipedes as they represent the species with the greatest number of legs among various animal species. A decentralized control mechanism involving local force feedback was proposed based on the qualitative findings of behavioural experiments in which responses to the removal of part of the terrain and leg amputation were observed. The proposed mechanism was implemented in a developed millipede-like robot to demonstrate that the robot can adapt to the removal of the part of the terrain and leg amputation in a manner similar to that in behavioural experiments.
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Affiliation(s)
- Takeshi Kano
- Research Institute of Electrical Communication, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai 980-8577, Japan
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