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Tirado J, Do CD, Moisson de Vaux J, Jørgensen J, Rafsanjani A. Earthworm-Inspired Soft Skin Crawling Robot. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2400012. [PMID: 38622890 PMCID: PMC11187925 DOI: 10.1002/advs.202400012] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/03/2024] [Revised: 03/09/2024] [Indexed: 04/17/2024]
Abstract
Earthworms are fascinating animals capable of crawling and burrowing through various terrains using peristaltic motion and the directional friction response of their epidermis. Anisotropic anchoring governed by tiny appendages on their skin called setae is known to enhance the earthworm's locomotion. A multi-material fabrication technique is employed to produce soft skins with bristles inspired by the earthworm epidermis and their setae. The effect of bristles arranged in triangular and square grids at two spatial densities on the locomotion capability of a simple soft crawling robot comprised of an extending soft actuator covered by the soft skin is investigated experimentally. The results suggest that the presence of bristles results in a rostral to caudal friction ratio of µR/µC > 1 with some variations across bristle arrangements and applied elongations. Doubling the number of bristles increases the robot's speed by a factor of 1.78 for the triangular grid while it is less pronounced for the rectangular grid with a small factor of 1.06. Additionally, it is observed that increasing the actuation stroke for the skin with the high-density triangular grid, from 15% to 30%, elevates the speed from 0.5 to 0.9 mm s-1, but further increases in stroke to 45% may compromise the durability of the actuators with less gains in speed (1 mm s-1). Finally, it is demonstrated that a crawling robot equipped with soft skin can traverse both a linear and a curved channel.
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Affiliation(s)
- Jonathan Tirado
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
| | - Cao Danh Do
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
| | - Joséphine Moisson de Vaux
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
- Department of MechanicsÉcole Centrale de MarseilleMarseille13013France
| | - Jonas Jørgensen
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
| | - Ahmad Rafsanjani
- SDU Soft Robotics, Biorobotics SectionThe Maersk McKinney Moller InstituteUniversity of Southern DenmarkOdense5230Denmark
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Cheng Q, Jiang Z, Borodich FM, Gorb SN, Jin X. Interaction of a non-axisymmetric artificial single spatula with rough surfaces. Interface Focus 2024; 14:20230081. [PMID: 39081624 PMCID: PMC11285672 DOI: 10.1098/rsfs.2023.0081] [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: 12/26/2023] [Revised: 03/31/2024] [Accepted: 05/02/2024] [Indexed: 08/02/2024] Open
Abstract
Hair-like attachment structures are frequently used by animals to create stable contact with rough surfaces. Previous studies focused primarily on axisymmetric biomimetic models of artificial spatulas, such as those with a mushroom-shaped and cylinder-shaped geometry, in order to simulate the so-called gecko effect. Here, two geometric prototypes of artificial adhesive structures with non-axisymmetric properties were designed. The investigation of the prototype's interactions with rough surfaces was carried out using the finite element software ABAQUS. Under increasing vertical displacement, the effect of asperity size on the contact pressure evolution of the spatula was investigated. It has been demonstrated that the contact behaviour is greatly affected by the flexibility of the spatula, which is caused by its variable thickness. The thinner spatula shows a higher nominal contact area and attaches more strongly to various rough surfaces. Although a thicker spatula is more susceptible to the 'leverage' phenomenon, which occurs when excessively applied displacements prematurely reduce the nominal contact area, it obtains the ability to regulate attachment during unidirectional loading. Two non-axisymmetric prototypes provide different design concepts for the artificial adhesives. It is hoped that this study will provide fresh viewpoints and innovations that contribute to the development of biologically inspired adhesives.
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Affiliation(s)
- Qian Cheng
- College of Aerospace Engineering, Chongqing University, Chongqing400030, People's Republic of China
| | - Zhizhen Jiang
- College of Aerospace Engineering, Chongqing University, Chongqing400030, People's Republic of China
| | - Feodor M. Borodich
- College of Aerospace Engineering, Chongqing University, Chongqing400030, People's Republic of China
| | - Stanislav N. Gorb
- Department of Functional Morphology and Biomechanics, Zoological Institute, University of Kiel, Am Botanischen Garten 1–9, Kiel24098, Germany
| | - Xiaoqing Jin
- College of Aerospace Engineering, Chongqing University, Chongqing400030, People's Republic of China
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Preuss A, Appel E, Gorb SN, Büsse S. Tanning of the tarsal and mandibular cuticle in adult Anax imperator (Insecta: Odonata) during the emergence sequence. Interface Focus 2024; 14:20230076. [PMID: 38618233 PMCID: PMC11008962 DOI: 10.1098/rsfs.2023.0076] [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: 12/05/2023] [Accepted: 02/22/2024] [Indexed: 04/16/2024] Open
Abstract
The arthropod cuticle offers strength, protection, and lightweight. Due to its limit in expandability, arthropods have to moult periodically to grow. While moulting is beneficial in terms of parasite or toxin control, growth and adaptation to environmental conditions, it costs energy and leaves the soft animal's body vulnerable to injuries and desiccation directly after ecdysis. To investigate the temporal change in sclerotization and pigmentation during and after ecdysis, we combined macrophotography, confocal laser scanning microscopy, scanning electron microscopy and histological sectioning. We analysed the tarsal and mandibular cuticle of the blue emperor dragonfly to compare the progress of tanning for structures that are functionally involved during emergence (tarsus/tarsal claws) with structures whose functionality is required much later (mandibles). Our results show that: (i) the tanning of the tarsal and mandibular cuticle increases during emergence; (ii) the tarsal cuticle tans faster than the mandibular cuticle; (iii) the mandibles tan faster on the aboral than on the oral side; and (iv) both the exo- and the endocuticle are tanned. The change in the cuticle composition of the tarsal and mandibular cuticle reflects the demand for higher mechanical stability of these body parts when holding on to the substrate during emergence and during first walking or hunting attempts.
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Affiliation(s)
- Anika Preuss
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
| | - Esther Appel
- 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
| | - Sebastian Büsse
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany
- Department for Cytology and Evolutionary Biology, Zoological Institute and Museum, University of Greifswald, Soldmannstr. 23, 17489 Greifswald, Germany
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Takamura Y, Tominaga T, Zhu R, Yamamoto I, Matsumoto K, Nagayasu T. Development of Medical Shark Skin Forceps: Improved Grasping Power and Easy Manipulation. JSLS 2023; 27:e2023.00037. [PMID: 37936580 PMCID: PMC10627341 DOI: 10.4293/jsls.2023.00037] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2023] Open
Abstract
Background and Objectives Important safety requirements for forceps used in surgical procedures are the ability to stably grasp fine tissue and to cause minimal tissue damage. Shark skin has the structural feature of circumpolar scales, which increase the frictional force of the scales by roughening their surface. We have developed and patented medical forceps with a shark skin pattern placed on the tip surfaces. The aim of this study was to examine the safety and efficacy of the shark skin forceps compared with existing forceps, both fundamentally and clinically. Methods To evaluate gripping power and usability, we compared bead transfer times for each forceps type. Grasping force and frictional force were measured quantitatively and compared among the types. To evaluate safety, we performed pathological examination of lung and urethral tissue after grasping, in an animal experiment. Subjective assessment of user experience was then performed using a questionnaire. Results In the dry lab assessment, transfer time was fastest using the shark skin forceps (34 s vs 61 s and 62 s, p < 0.05). Frictional force values were highest for the shark skin forceps (p < 0.05). In the animal experiment, there was no difference in pathological tissue damage to lung or ureter tissues among the forceps types after grasping. The questionnaire responses indicated advantages of the shark skin forceps in terms of ease of grasping membranes and lower degree of grasp failure. Conclusion Forceps with shark skin on the tips showed greater stability of tissue grasping and equivalent safety compared with existing forceps.
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Affiliation(s)
- Yuma Takamura
- Department of Surgical Oncology, Nagasaki University Graduate School of Biomedical Sciences, Nagasaki, Japan. (Drs. Takamura, Tominaga, Zhu, Matsumoto, Nagayasu)
- Medical-Engineering Hybrid Professional Development Center, Nagasaki University Graduate School of Biomedical Sciences, Sakamoto, Nagasaki, Japan. (all authors)
| | - Tetsuro Tominaga
- Department of Surgical Oncology, Nagasaki University Graduate School of Biomedical Sciences, Nagasaki, Japan. (Drs. Takamura, Tominaga, Zhu, Matsumoto, Nagayasu)
- Medical-Engineering Hybrid Professional Development Center, Nagasaki University Graduate School of Biomedical Sciences, Sakamoto, Nagasaki, Japan. (all authors)
| | - Rui Zhu
- Department of Surgical Oncology, Nagasaki University Graduate School of Biomedical Sciences, Nagasaki, Japan. (Drs. Takamura, Tominaga, Zhu, Matsumoto, Nagayasu)
- Medical-Engineering Hybrid Professional Development Center, Nagasaki University Graduate School of Biomedical Sciences, Sakamoto, Nagasaki, Japan. (all authors)
| | - Ikuo Yamamoto
- Engineering Department, Nagasaki University, Nagasaki, Japan. (Dr. Yamamoto)
- Medical-Engineering Hybrid Professional Development Center, Nagasaki University Graduate School of Biomedical Sciences, Sakamoto, Nagasaki, Japan. (all authors)
| | - Keitaro Matsumoto
- Department of Surgical Oncology, Nagasaki University Graduate School of Biomedical Sciences, Nagasaki, Japan. (Drs. Takamura, Tominaga, Zhu, Matsumoto, Nagayasu)
- Engineering Department, Nagasaki University, Nagasaki, Japan. (Dr. Yamamoto)
| | - Takeshi Nagayasu
- Department of Surgical Oncology, Nagasaki University Graduate School of Biomedical Sciences, Nagasaki, Japan. (Drs. Takamura, Tominaga, Zhu, Matsumoto, Nagayasu)
- Medical-Engineering Hybrid Professional Development Center, Nagasaki University Graduate School of Biomedical Sciences, Sakamoto, Nagasaki, Japan. (all authors)
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Sandoval JA, Ishida M, Jadhav S, Huen S, Tolley MT. Tuning the Morphology of Suction Discs to Enable Directional Adhesion for Locomotion in Wet Environments. Soft Robot 2022; 9:1083-1097. [PMID: 35285735 DOI: 10.1089/soro.2021.0096] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023] Open
Abstract
Reversible adhesion provides robotic systems with unique capabilities, including wall climbing and walking underwater, and yet the control of adhesion continues to pose a challenge. Directional adhesives have begun to address this limitation by providing adhesion when loaded in one direction and releasing easily when loaded in the opposite direction. However, previous work has focused on directional adhesives for dry environments. In this work, we sought to address this need for directional adhesives for use in a wet environment by tuning the morphology of suction discs to achieve anisotropic adhesion. We developed a suction disc that exhibited significant directional preference in attachment and detachment without requiring active control. The suction discs exhibited morphological computation-that is, they were programmed based on their geometry and material properties to detach under specific angles of loading. We investigated two design parameters-disc symmetry and slits within the disc margin-as mechanisms to yield anisotropic adhesion, and through experimental characterizations, we determined that an asymmetric suction disc most consistently provided directional adhesion. We performed a parametric sweep of material stiffness to optimize for directional adhesion and found that the material composition of the suction disc demonstrated the ability to override the effect of body asymmetry on achieving anisotropic adhesion. We modeled the stress distributions within the different suction disc symmetries using finite element analysis, yielding insights into the differences in contact pressures between the variants. We experimentally demonstrated the utility of the suction discs in a simulated walking gait using linear actuators as one potential application of the directional suction disc.
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Affiliation(s)
- Jessica A Sandoval
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Michael Ishida
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Saurabh Jadhav
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Sidney Huen
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
| | - Michael T Tolley
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, California, USA
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Khan MB, Chuthong T, Homchanthanakul J, Manoonpong P. Electromagnetic Feet With Soft Toes for Adaptive, Versatile, and Stable Locomotion of an Inchworm-Inspired Pipe Crawling Robot. Front Bioeng Biotechnol 2022; 10:842816. [PMID: 35252150 PMCID: PMC8895823 DOI: 10.3389/fbioe.2022.842816] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/24/2021] [Accepted: 02/04/2022] [Indexed: 11/21/2022] Open
Abstract
Feet play an important role in the adaptive, versatile, and stable locomotion of legged creatures. Accordingly, several robotic research studies have used biological feet as the inspiration for the design of robot feet in traversing complex terrains. However, so far, no robot feet can allow legged robots to adaptively, versatilely, and robustly crawl on various curved metal pipes, including flat surfaces for pipe inspection. To address this issue, we propose here a novel hybrid rigid-soft robot-foot design inspired by the leg morphology of an inchworm. The foot consists of a rigid section with an electromagnet and a soft toe covering for enhanced adhesion to a metal pipe. Finite element analysis , performed under different loading conditions, reveals that due to its compliance, the soft toe can undergo recoverable deformation with adaptability to various curved metal pipes and plain metal surfaces. We have successfully implemented electromagnetic feet with soft toes (EROFT) on an inchworm-inspired pipe crawling robot for adaptive, versatile, and stable locomotion. Foot-to-surface adaptability is provided by the inherent elasticity of the soft toe, making the robot a versatile and stable metal pipe crawler. Experiments show that the robot crawling success rate reaches 100% on large diameter metal pipes. The proposed hybrid rigid-soft feet (i.e., electromagnetic feet with soft toes) can solve the problem of continuous surface adaptation for the robot in a stable and efficient manner, irrespective of the surface curvature, without the need to manually change the robot feet for specific surfaces. To this end, the foot development enables the robot to meet a set of deployment requirements on large oil and gas pipelines for potential use in inspecting various faults and leakages.
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Affiliation(s)
- Muhammad Bilal Khan
- Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
| | - Thirawat Chuthong
- Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
| | - Jettanan Homchanthanakul
- Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
| | - Poramate Manoonpong
- Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
- Embodied AI and Neurorobotics Lab, SDU Biorobotics, The Mæsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense M, Denmark
- *Correspondence: Poramate Manoonpong,
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Manoonpong P, Patanè L, Xiong X, Brodoline I, Dupeyroux J, Viollet S, Arena P, Serres JR. Insect-Inspired Robots: Bridging Biological and Artificial Systems. SENSORS (BASEL, SWITZERLAND) 2021; 21:7609. [PMID: 34833685 PMCID: PMC8623770 DOI: 10.3390/s21227609] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/09/2021] [Revised: 10/26/2021] [Accepted: 10/27/2021] [Indexed: 12/18/2022]
Abstract
This review article aims to address common research questions in hexapod robotics. How can we build intelligent autonomous hexapod robots that can exploit their biomechanics, morphology, and computational systems, to achieve autonomy, adaptability, and energy efficiency comparable to small living creatures, such as insects? Are insects good models for building such intelligent hexapod robots because they are the only animals with six legs? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying relevant and future directions in the field of hexapod robotics over the next decade. After an introduction in section (1), the sections will respectively cover the following three key areas: (2) biomechanics focused on the design of smart legs; (3) locomotion control; and (4) high-level cognition control. These interconnected and interdependent areas are all crucial to improving the level of performance of hexapod robotics in terms of energy efficiency, terrain adaptability, autonomy, and operational range. We will also discuss how the next generation of bioroboticists will be able to transfer knowledge from biology to robotics and vice versa.
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Affiliation(s)
- Poramate Manoonpong
- Embodied Artificial Intelligence and Neurorobotics Laboratory, SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, 5230 Odense, Denmark;
- Bio-Inspired Robotics and Neural Engineering Laboratory, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong 21210, Thailand
| | - Luca Patanè
- Department of Engineering, University of Messina, 98100 Messina, Italy
| | - Xiaofeng Xiong
- Embodied Artificial Intelligence and Neurorobotics Laboratory, SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, 5230 Odense, Denmark;
| | - Ilya Brodoline
- Department of Biorobotics, Aix Marseille University, CNRS, ISM, CEDEX 07, 13284 Marseille, France; (I.B.); (S.V.)
| | - Julien Dupeyroux
- Faculty of Aerospace Engineering, Delft University of Technology, 52600 Delft, The Netherlands;
| | - Stéphane Viollet
- Department of Biorobotics, Aix Marseille University, CNRS, ISM, CEDEX 07, 13284 Marseille, France; (I.B.); (S.V.)
| | - Paolo Arena
- Department of Electrical, Electronic and Computer Engineering, University of Catania, 95131 Catania, Italy
| | - Julien R. Serres
- Department of Biorobotics, Aix Marseille University, CNRS, ISM, CEDEX 07, 13284 Marseille, France; (I.B.); (S.V.)
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Büsse S, Tröger H, Gorb SN. The toolkit of a hunter – functional morphology of larval mouthparts in a dragonfly. J Zool (1987) 2021. [DOI: 10.1111/jzo.12923] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/27/2022]
Affiliation(s)
- S. Büsse
- Department of Functional Morphology and Biomechanics Institute of Zoology Kiel University Kiel Germany
| | - H.‐L. Tröger
- Department of Functional Morphology and Biomechanics Institute of Zoology Kiel University Kiel Germany
| | - S. N. Gorb
- Department of Functional Morphology and Biomechanics Institute of Zoology Kiel University Kiel Germany
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Siddall R, Fukushima T, Bardhi D, Perteshoni B, Morina A, Hasimja E, Dujaka Y, Haziri G, Martin L, Banerjee H, Jusufi A. Compliance, mass distribution and contact forces in cursorial and scansorial locomotion with biorobotic physical models. Adv Robot 2021. [DOI: 10.1080/01691864.2021.1887760] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/26/2023]
Affiliation(s)
- Robert Siddall
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Toshihiko Fukushima
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Drilon Bardhi
- Faculty of Medicine, University of Prishtina ‘Hasan Prishtina’, Pristina, Kosovo
| | - Buna Perteshoni
- Department of Manufacturing, Des Moines Area Community College, Des Moines, USA
| | - Albulena Morina
- Faculty of Mathematical and Natural Sciences, University of Prishtina “Hasan Prishtina”, Pristina, Kosovo
| | - Era Hasimja
- Faculty of Engineering and Computer Science, University for Business and Technology, Pristina, Kosovo
| | - Yll Dujaka
- Faculty of Electrical and Computer Engineering, University of Prishtina “Hasan Prishtina”, Pristina, Kosovo
| | - Gezim Haziri
- Faculty of Electrical and Computer Engineering, University of Prishtina “Hasan Prishtina”, Pristina, Kosovo
| | - Lina Martin
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Hritwick Banerjee
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Ardian Jusufi
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
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Sun T, Xiong X, Dai Z, Manoonpong P. Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors. Front Neurorobot 2020; 14:14. [PMID: 32174822 PMCID: PMC7054281 DOI: 10.3389/fnbot.2020.00014] [Citation(s) in RCA: 12] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/04/2019] [Accepted: 02/10/2020] [Indexed: 11/13/2022] Open
Abstract
Self-organization of locomotion characterizes the feature of automatically spontaneous gait generation without preprogrammed limb movement coordination. To study this feature in quadruped locomotion, we propose here a new open-source, small-sized reconfigurable quadruped robot, called Lilibot, with multiple sensory feedback and its physical simulation. Lilibot was designed as a friendly quadrupedal platform with unique characteristics, including light weight, easy handling, modular components, and multiple real-time sensory feedback. Its modular components can be flexibly reconfigured to obtain features, such as different leg orientations for testing the effectiveness and generalization of self-organized locomotion control. Its multiple sensory feedback (i.e., joint angles, joint velocities, joint currents, joint voltages, and body inclination) can support vestibular reflexes and compliant control mechanisms for body posture stabilization and compliant behavior, respectively. To evaluate the performance of Lilibot, we implemented our developed adaptive neural controller on it. The experimental results demonstrated that Lilibot can autonomously and rapidly exhibit adaptive and versatile behaviors, including spontaneous self-organized locomotion (i.e., adaptive locomotion) under different leg orientations, body posture stabilization on a tiltable plane, and leg compliance for unexpected external load compensation. To this end, we successfully developed an open-source, friendly, small-sized, and lightweight quadruped robot with reconfigurable legs and multiple sensory feedback that can serve as a generic quadrupedal platform for research and education in the fields of locomotion, vestibular reflex-based, and compliant control.
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Affiliation(s)
- Tao Sun
- Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Xiaofeng Xiong
- Embodied AI & Neurobotics Lab, SDU Biorobotics, Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark
| | - Zhendong Dai
- Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Poramate Manoonpong
- Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.,Embodied AI & Neurobotics Lab, SDU Biorobotics, Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark
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11
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Wang J, Ji C, Wang W, Zou J, Yang H, Pan M. An adhesive locomotion model for the rock-climbing fish, Beaufortia kweichowensis. Sci Rep 2019; 9:16571. [PMID: 31719624 PMCID: PMC6851163 DOI: 10.1038/s41598-019-53027-2] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/28/2019] [Accepted: 10/28/2019] [Indexed: 11/09/2022] Open
Abstract
The rock-climbing fish (Beaufortia kweichowensis) adheres to slippery, fouled surfaces and crawls both forward and backward in torrential streams. During locomotion, two suckers can be distinguished. Here, the general skeletal structure of the rock-climbing fish was determined using microtomography. Friction and adhesion were positively correlated, as were friction and fin ray angle. The unique adhesive locomotion system used by the rock-climbing fish was observed with a high speed camera. This system comprised two anisotropic suckers bearing two paired fins and two girdle muscles. A locomotion model was established based on these results. In this model, the fin states controlled the direction of motion using anisotropic friction, and alternate contractions of the girdle muscles provided propulsion during bidirectional crawling. This adhesive locomotion system was compared with other biological locomotion mechanisms. Based on these comparisons, we hypothesized that this novel system might represent an energy-saving solution for undulatory underwater vertical movement without detaching from the substrate.
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Affiliation(s)
- Jinrong Wang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
| | - Chen Ji
- Institute of Marine Science and Technology, Shandong University, Qingdao, 266237, China
| | - Wei Wang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China.
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
| | - Min Pan
- Center for Power Transmission and Motion Control, Department of Mechanical Engineering, University of Bath, Bath, BA2 7AY, UK
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12
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Cao Z, Xiao Q, Zhou M. Distributed Fusion-Based Policy Search for Fast Robot Locomotion Learning. IEEE COMPUT INTELL M 2019. [DOI: 10.1109/mci.2019.2919364] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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13
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Liu X, Rosendo A, Ikemoto S, Shimizu M, Hosoda K. Robotic investigation on effect of stretch reflex and crossed inhibitory response on bipedal hopping. J R Soc Interface 2019; 15:rsif.2018.0024. [PMID: 29593088 PMCID: PMC5908536 DOI: 10.1098/rsif.2018.0024] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2018] [Accepted: 03/02/2018] [Indexed: 12/15/2022] Open
Abstract
To maintain balance during dynamic locomotion, the effects of proprioceptive sensory feedback control (e.g. reflexive control) should not be ignored because of its simple sensation and fast reaction time. Scientists have identified the pathways of reflexes; however, it is difficult to investigate their effects during locomotion because locomotion is controlled by a complex neural system and current technology does not allow us to change the control pathways in living humans. To understand these effects, we construct a musculoskeletal bipedal robot, which has similar body structure and dynamics to those of a human. By conducting experiments on this robot, we investigate the effects of reflexes (stretch reflex and crossed inhibitory response) on posture during hopping, a simple and representative bouncing gait with complex dynamics. Through over 300 hopping trials, we confirm that both the stretch reflex and crossed response can contribute to reducing the lateral inclination during hopping. These reflexive pathways do not use any prior knowledge of the dynamic information of the body such as its inclination. Beyond improving the understanding of the human neural system, this study provides roboticists with biomimetic ideas for robot locomotion control.
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Affiliation(s)
- Xiangxiao Liu
- Graduate School of Engineering Science, Osaka University, Japan
| | - Andre Rosendo
- Graduate School of Engineering Science, Osaka University, Japan
| | - Shuhei Ikemoto
- Graduate School of Engineering Science, Osaka University, Japan
| | | | - Koh Hosoda
- Graduate School of Engineering Science, Osaka University, Japan
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14
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Bäumler F, Büsse S. Resilin in the flight apparatus of Odonata (Insecta)-cap tendons and their biomechanical importance for flight. Biol Lett 2019; 15:20190127. [PMID: 31064308 PMCID: PMC6548727 DOI: 10.1098/rsbl.2019.0127] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/25/2019] [Accepted: 04/15/2019] [Indexed: 11/12/2022] Open
Abstract
In Odonata, a direct flight mechanism with specialized tendons evolved. One particular adaptation, the implementation of the rubber-like protein resilin in these cap tendons, might be of major importance. Although resilin was first described in one tendon of Odonata, to our knowledge no comprehensive study about the presence of resilin in the thorax exists yet. We investigated various species of Odonata, using µCT, dissection and fluorescence microscopy. Here we show a complete mapping of the odonatan pterothorax, regarding the presence of tendons and their properties. Thus, 20-21 cap tendons in the pterothorax of Odonata show the presence of resilin. While performing outstanding and often-aggressive flight manoeuvres, resilin can provide shock absorption against mechanical damage from strong impacts. It may further improve the wear and fatigue resistance owing to resilin's damping behaviour. Additionally, resilin in tendons can absorb and return kinetic energy to restore muscles to their original shape after contracting and help in maintaining self-oscillation of the flight muscles. Here, the material distribution within the direct flight system of Odonata and the biomechanical importance and possible function of resilin are discussed. These results are an important step towards the understanding of the complex form-material-function interplay of the insect cuticle.
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Affiliation(s)
| | - Sebastian Büsse
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, D-24118 Kiel, Germany
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15
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Abstract
SummaryThe unique frictional properties conferred by snake ventral scales inspired the engineering and fabrication of surrogate mechanisms for a robotic snake. These artificial, biologically inspired scales produce anisotropic body-ground forcing patterns with various locomotion surfaces. The benefits they confer to robotic snake-like locomotion were evaluated in experimental trials employing rectilinear, lateral undulation, and sidewinding gaits over several distinct surface types: carpet, inhomogeneous concrete and homogeneous concrete. Enhanced locomotive performance, with respect to net displacement and heading stability, was consistently measured in scenarios that utilized the engineered scales, over equivalent scenarios where the anisotropic effects of scales were absent.
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16
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Ma S, Scaraggi M, Yan C, Wang X, Gorb SN, Dini D, Zhou F. Bioinspired 3D Printed Locomotion Devices Based on Anisotropic Friction. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2019; 15:e1802931. [PMID: 30444553 DOI: 10.1002/smll.201802931] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/26/2018] [Revised: 10/10/2018] [Indexed: 06/09/2023]
Abstract
Anisotropic friction plays a key role in natural systems, particularly for realizing the purpose of locomotion and strong attachment for the survival of organisms. Of particular interest, here, is the observation that friction anisotropy is promoted numerous times by nature, for example, by wild wheat awn for its targeted and successful seed anchorage and dispersal. Such feature is, however, not fully exploited in man-made systems, such as microbots, due to technical limitations and lack of full understanding of the mechanisms. To unravel the complex dynamics occurring in the sliding interaction between anisotropic microstructured surfaces, the friction induced by asymmetric plant microstructures is first systematically investigated. Inspired by this, anisotropic polymer microactuators with three-dimensional (3D) printed microrelieves are then prepared. By varying geometric parameters, the capability of microactuators to generate strong friction anisotropy and controllable motion in remotely stretched cylindrical tubes is investigated. Advanced theoretical models are proposed to understand and predict the dynamic behavior of these synthetic systems and to shed light on the parameters and mechanisms governing their behavior. Finally, a microbot prototype is developed and cargo transportation functions are successfully realized. This research provides both in-depth understanding of anisotropic friction in nature and new avenues for developing intelligent actuators and microbots.
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Affiliation(s)
- Shuanhong Ma
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou, 730000, China
| | - Michele Scaraggi
- Department of Engineering for Innovation, Universitá del Salento, 73100 Monteroni-Lecce, Italy
- Department of Mechanical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Changyou Yan
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou, 730000, China
- University of the Chinese Academy of Sciences, Beijing, 100049, China
| | - Xiaolong Wang
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou, 730000, China
| | - Stanislav N Gorb
- Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, 24118, Kiel, Germany
| | - Daniele Dini
- Department of Mechanical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Feng Zhou
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou, 730000, China
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17
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Water-repellent Hybrid Nanowire and Micro-scale Denticle Structures on Flexible Substrates of Effective Air Retention. Sci Rep 2018; 8:16631. [PMID: 30413756 PMCID: PMC6226506 DOI: 10.1038/s41598-018-35075-2] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/16/2018] [Accepted: 10/29/2018] [Indexed: 12/13/2022] Open
Abstract
The air retention capability of a superhydrophobic surface plays the crucial role of drag reduction in an aqueous environment. Here, fabrication of water-repellent hybrid structural surfaces by synthesizing superhydrophobic nanowires with a high aspect ratio on micro-scale denticle structures to improve their air holding capacity in water is reported. The hybrid structure is realized by carrying out polymer molding of denticle structures on flexible substrates, hydrothermal growth of nanowires, and subsequent ultra-thin film coating. This technique is readily applicable to large areas, and the fabricated substrates are attachable onto curved surfaces. Our engineered, super water-repellent hybrid structures are found to effectively maintain air bubbles on their surfaces in a highly shear flow condition with a wall shear stress of up to 33.4 Pa, due to the combined effects of the micro-scale denticle structure, which reduces flow resistance, and the superhydrophobic, high-aspect-ratio nanowire structure, which enhances the capillary force to maintain the air bubbles. Our results show the importance of developing superhydrophobic structures of improved air retention capability.
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18
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Manoonpong P, Tetzlaff C. Editorial: Neural Computation in Embodied Closed-Loop Systems for the Generation of Complex Behavior: From Biology to Technology. Front Neurorobot 2018; 12:53. [PMID: 30214405 PMCID: PMC6125336 DOI: 10.3389/fnbot.2018.00053] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/14/2018] [Accepted: 08/09/2018] [Indexed: 11/13/2022] Open
Affiliation(s)
- Poramate Manoonpong
- Embodied AI and Neurorobotics Lab, Centre for BioRobotics, The Mrsk Mc-Kinney Mller Institute, University of Southern Denmark, Odense, Denmark.,Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand.,Institute of Bio-Inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Christian Tetzlaff
- Bernstein Center for Computational Neuroscience, Third Institute of Physics, Georg-August-Universität Göttingen, Göttingen, Germany
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19
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Petersen DS, Kreuter N, Heepe L, Büsse S, Wellbrock AHJ, Witte K, Gorb SN. Holding tight to feathers - structural specializations and attachment properties of the avian ectoparasite Crataerina pallida (Diptera, Hippoboscidae). ACTA ACUST UNITED AC 2018; 221:jeb.179242. [PMID: 29712747 DOI: 10.1242/jeb.179242] [Citation(s) in RCA: 26] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/12/2018] [Accepted: 04/23/2018] [Indexed: 11/20/2022]
Abstract
The louse fly Crataerina pallida is an obligate blood-sucking ectoparasite of the common swift Apus apus As a result of reduction of the wings, C. pallida is unable to fly; thus, an effective and reliable attachment to their host's plumage is of utmost importance. The attachment system of C. pallida shows several modifications in comparison to that of other calyptrate flies, notably the large tridentate claws and the dichotomously shaped setae located on the pulvilli. Based on data from morphological analysis, confocal laser scanning microscopy, cryo-scanning electron microscopy and attachment force experiments performed on native (feathers) as well as artificial substrates (glass, epoxy resin and silicone rubber), we showed that the entire attachment system is highly adapted to the fly's lifestyle as an ectoparasite. The claws in particular are the main contributor to strong attachment to the host. Resulting attachment forces on feathers make it impossible to detach C. pallida without damage to the feathers or to the legs of the louse fly itself. Well-developed pulvilli are responsible for the attachment to smooth surfaces. Both dichotomously shaped setae and high setal density explain high attachment forces observed on smooth substrates. For the first time, we demonstrate a material gradient within the setae, with soft, resilin-dominated apical tips and stiff, more sclerotized bases in Diptera. The empodium seems not to be directly involved in the attachment process, but it might operate as a cleaning device and may be essential to maintain the functionality of the entire attachment system.
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Affiliation(s)
- Dennis S Petersen
- Department of Functional Morphology and Biomechanics Zoological Institute, Kiel University, Am Botanischen Garten 1-9, 24098 Kiel, Germany
| | - Nils Kreuter
- Department of Functional Morphology and Biomechanics Zoological Institute, Kiel University, Am Botanischen Garten 1-9, 24098 Kiel, Germany
| | - Lars Heepe
- Department of Functional Morphology and Biomechanics Zoological Institute, Kiel University, Am Botanischen Garten 1-9, 24098 Kiel, Germany
| | - Sebastian Büsse
- Department of Functional Morphology and Biomechanics Zoological Institute, Kiel University, Am Botanischen Garten 1-9, 24098 Kiel, Germany
| | - Arndt H J Wellbrock
- Research Group of Ecology and Behavioral Biology, Institute of Biology, Department of Chemistry-Biology, University of Siegen, Adolf-Reichwein-Str. 2, 57076 Siegen, Germany
| | - Klaudia Witte
- Research Group of Ecology and Behavioral Biology, Institute of Biology, Department of Chemistry-Biology, University of Siegen, Adolf-Reichwein-Str. 2, 57076 Siegen, Germany
| | - Stanislav N Gorb
- Department of Functional Morphology and Biomechanics Zoological Institute, Kiel University, Am Botanischen Garten 1-9, 24098 Kiel, Germany
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20
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Büsse S, Gorb SN. Material composition of the mouthpart cuticle in a damselfly larva (Insecta: Odonata) and its biomechanical significance. ROYAL SOCIETY OPEN SCIENCE 2018; 5:172117. [PMID: 30110404 PMCID: PMC6030260 DOI: 10.1098/rsos.172117] [Citation(s) in RCA: 35] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/06/2017] [Accepted: 05/01/2018] [Indexed: 05/25/2023]
Abstract
Odonata larvae are key predators in their habitats. They catch prey with a unique and highly efficient apparatus, the prehensile mask. The mandibles and maxillae, however, play the lead in handling and crushing the food. The material composition of the cuticle in the biomechanical system of the larval mouthparts has not been studied so far. We used confocal laser scanning microscopy (CLSM) to detect material gradients in the cuticle by differences in autofluorescence. Our results show variations of materials in different areas of the mouthparts: (i) resilin-dominated pads within the membranous transition between the labrum and the anteclypeus, which support mobility and might provide shock absorption, an adaptation against mechanical damage; (ii) high degrees of sclerotization in the incisivi of the mandibles, where high forces occur when crushing the prey's body wall. The interaction of the cuticle geometry, the material composition and the related musculature determine the complex concerted movements of the mouthparts. The material composition influences the strength, mobility and durability of the cuticular components of the mouthparts. Applying CLSM for extracting information about material composition and material properties of arthropod cuticles will considerably help improve finite-element modelling studies.
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Affiliation(s)
- Sebastian Büsse
- Department of Functional Morphology and Biomechanics, Institute of Zoology, Christian-Albrechts-Universität zu Kiel, Am Botanischen Garten 9, 24118 Kiel, Germany
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21
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Tramsen HT, Gorb SN, Zhang H, Manoonpong P, Dai Z, Heepe L. Inversion of friction anisotropy in a bio-inspired asymmetrically structured surface. J R Soc Interface 2018; 15:20170629. [PMID: 29298956 PMCID: PMC5805965 DOI: 10.1098/rsif.2017.0629] [Citation(s) in RCA: 31] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/30/2017] [Accepted: 12/01/2017] [Indexed: 11/12/2022] Open
Abstract
Friction anisotropy is an important property of many surfaces that usually facilitate the generation of motion in a preferred direction. Such surfaces are very common in biological systems and have been the templates for various bio-inspired materials with similar tribological properties. So far friction anisotropy is considered to be the result of an asymmetric arrangement of surface nano- and microstructures. However, here we show by using bio-inspired sawtooth-structured surfaces that the anisotropic friction properties are not only controlled by an asymmetric surface topography, but also by the ratio of the sample-substrate stiffness, the aspect ratio of surface structures, and by the substrate roughness. Systematically modifying these parameters, we were able to demonstrate a broad range of friction anisotropies, and for specific sample-substrate combinations even an inversion of the anisotropy. This result highlights the complex interrelation between the different material and topographical parameters on friction properties and sheds new light on the conventional design paradigm of tribological systems. Finally, this result is also of great importance for understanding functional principles of biological materials and surfaces, as such inversion of friction anisotropy may correlate with gait pattern and walking behaviour in climbing animals, which in turn may be used in robotic applications.
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Affiliation(s)
- Halvor T Tramsen
- Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Kiel, Germany
| | - Stanislav N Gorb
- Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Kiel, Germany
| | - Hao Zhang
- College of Mechanical and Electric Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Poramate Manoonpong
- Embodied AI and Neurorobotics Lab, Centre for BioRobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark
- Bio-inspired Robotics and Neural Engineering Lab, School of Information Science & Technology, Vidyasirimedhi Institute of Science & Technology, Rayong, Thailand
| | - Zhendong Dai
- College of Mechanical and Electric Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Lars Heepe
- Department of Functional Morphology and Biomechanics, Zoological Institute, Kiel University, Kiel, Germany
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