Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion

Nodes for modes: nodal honeycomb metamaterial enables a soft robot with multimodal locomotion

Soft-bodied animals, such as worms and snakes, use many muscles in different ways to traverse unstructured environments and inspire tools for accessing confined spaces. They demonstrate versatility of locomotion which is essential for adaptation to changing terrain conditions. However, replicating such versatility in untethered soft-bodied robots with multimodal locomotion capabilities have been challenging due to complex fabrication processes and limitations of soft body structures to accommodate hardware such as actuators, batteries and circuit boards. Here, we present MetaCrawler, a 3D printed metamaterial soft robot designed for multimodal and omnidirectional locomotion. Our design approach facilitated an easy fabrication process through a discrete assembly of a modular nodal honeycomb lattice with soft and hard components. A crucial benefit of the nodal honeycomb architecture is the ability of its hard components, nodes, to accommodate a distributed actuation system, comprising servomotors, control circuits, and batteries. Enabled by this distributed actuation, MetaCrawler achieves five locomotion modes: peristalsis, sidewinding, sideways translation, turn-in-place, and anguilliform. Demonstrations showcase MetaCrawler's adaptability in confined channel navigation, vertical traversing, and maze exploration. This soft robotic system holds the potential to offer easy-to-fabricate and accessible solutions for multimodal locomotion in applications such as search and rescue, pipeline inspection, and space missions.

The Protective Effect of Lithium Against Rotenone may be Evolutionarily Conserved: Evidence from Eisenia fetida, a Primitive Animal with a Ganglionic Brain

Chronic exposure to stress is a non-adaptive situation that is associated with mitochondrial dysfunction and the accumulation of reactive oxygen species (ROS), especially superoxide anion (SA). This accumulation of ROS produces damage-associated molecular patterns (DAMPs), which activate chronic inflammatory states and behavioral changes found in several mood disorders. In a previous study, we observed that an imbalance of SA triggered by rotenone (Ro) exposure caused evolutionarily conserved oxi-inflammatory disturbances and behavioral changes in Eisenia fetida earthworms. These results supported our hypothesis that SA imbalance triggered by Ro exposure could be attenuated by lithium carbonate (LC), which has anti-inflammatory properties. The initial protocol exposed earthworms to Ro (30 nM) and four different LC concentrations. LC at a concentration of 12.85 mg/L decreased SA and nitric oxide (NO) levels and was chosen to perform complementary assays: (1) neuromuscular damage evaluated by optical and scanning electron microscopy (SEM), (2) innate immune inefficiency by analysis of Eisenia spp. extracellular neutrophil traps (eNETs), and (3) behavioral changes. Gene expression was also evaluated involving mitochondrial (COII, ND1), inflammatory (EaTLR, AMP), and neuronal transmission (nAchR α5). LC attenuated the high melanized deposits in the circular musculature, fiber disarrangement, destruction of secretory glands, immune inefficiency, and impulsive behavior pattern triggered by Ro exposure. However, the effects of LC and Ro on gene expression were more heterogeneous. In summary, SA imbalance, potentially associated with mitochondrial dysfunction, appears to be an evolutionary component triggering oxidative, inflammatory, and behavioral changes observed in psychiatric disorders that are inhibited by LC exposure.

Multimodal steerable earthworm-inspired soft robot based on vacuum and positive pressure powered pneumatic actuators

This article presents a multimodal steerable earthworm-inspired soft robot based on vacuum and positive pressure powered pneumatic actuators capable of crawling both inside pipelines and on planar surfaces. The optimized modular vacuum pressure-driven actuator can generate deformation and anchoring motion through a unified structure under low vacuum pressure, giving it significant speed advantages and multi-modal locomotion capabilities. Meanwhile, the positive pressure powered actuator (PPPA) enables the robot to achieve controlled multi-directional and multi-degrees-of-freedom steering, moreover, enhances the consistency of the driving mechanism. The incorporation of front-end pressure sensing enables the robot to autonomously detect and evaluate pressure, facilitating automatic obstacle avoidance through the activation of corresponding turning units of PPPA. In the process of optimizing motion parameters, the overall motion efficiency has been improved by 16.7% by improving the control law. Through adjustments and optimizations of the interval time (cycle time), the robot is able to achieve a speed of 7.16 mm s-1during planar locomotion and 1.94 mm s-1during in-pipe locomotion. Using the developed robot, we conducted a series of turning experiments, including surface obstacle avoidance and cross-plane crawling, which demonstrated its enhanced capability in cross-plane steering and locomotion. Its related speed indicators showcase superior overall performance compared to other developed robots of the same type.

An earthworm-like modular soft robot for locomotion in multi-terrain environments

Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments.

Actuation and design innovations in earthworm-inspired soft robots: A review

Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot's segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.

Design and Development of a Multi-Functional Bioinspired Soft Robotic Actuator via Additive Manufacturing

The industrial revolution 4.0 has led to a burst in the development of robotic automation and platforms to increase productivity in the industrial and health domains. Hence, there is a necessity for the design and production of smart and multi-functional tools, which combine several cutting-edge technologies, including additive manufacturing and smart control systems. In the current article, a novel multi-functional biomimetic soft actuator with a pneumatic motion system was designed and fabricated by combining different additive manufacturing techniques. The developed actuator was bioinspired by the natural kinematics, namely the motion mechanism of worms, and was designed to imitate the movement of a human finger. Furthermore, due to its modular design and the ability to adapt the actuator’s external covers depending on the requested task, this actuator is suitable for a wide range of applications, from soft (i.e., fruit grasping) or industrial grippers to medical exoskeletons for patients with mobility difficulties and neurological disorders. In detail, the motion system operates with two pneumatic chambers bonded to each other and fabricated from silicone rubber compounds molded with additively manufactured dies made of polymers. Moreover, the pneumatic system offers multiple-degrees-of-freedom motion and it is capable of bending in the range of −180° to 180°. The overall pneumatic system is protected by external covers made of 3D printed components whose material could be changed from rigid polymer for industrial applications to thermoplastic elastomer for complete soft robotic applications. In addition, these 3D printed parts control the angular range of the actuator in order to avoid the reaching of extreme configurations. Finally, the bio-robotic actuator is electronically controlled by PID controllers and its real-time position is monitored by a one-axis soft flex sensor which is embedded in the actuator’s configuration.

Optimal locomotion for limbless crawlers

Limbless crawling is ubiquitous in biology, from cells to organisms. We develop and analyze a model for the dynamics of one-dimensional elastic crawlers, subject to active stress and deformation-dependent friction with the substrate. We find that the optimal active stress distribution that maximizes the crawler's center-of-mass displacement given a fixed amount of energy input is a traveling wave. This theoretical optimum corresponds to peristalsislike extension-contraction waves observed in biological organisms, possibly explaining the prevalence of peristalsis as a convergent gait across species. Our theory elucidates key observations in biological systems connecting the anchoring phase of a crawler to the retrograde and prograde distinction seen in peristaltic waves among various organisms. Using our optimal gait solution, we derive a scaling relation between the crawling speed and body mass, explaining experiments on earthworms with three orders of magnitude body mass variations. Our results offer insights and tools for optimal bioinspired crawling robots design with finite battery capacity.

Robotics as a Comparative Method in Ecology and Evolutionary Biology

Comparative biologists have typically used one or more of the following methods to assist in evaluating the proposed functional and performance significance of individual traits: comparative phylogenetic analysis, direct interspecific comparison among species, genetic modification, experimental alteration of morphology (for example by surgically modifying traits), and ecological manipulation where individual organisms are transplanted to a different environment. But comparing organisms as the endpoints of an evolutionary process involves the ceteris paribus assumption: that all traits other than the one(s) of interest are held constant. In a properly controlled experimental study, only the variable of interest changes among the groups being compared. The theme of this paper is that the use of robotic or mechanical models offers an additional tool in comparative biology that helps to minimize the effect of uncontrolled variables by allowing direct manipulation of the trait of interest against a constant background. The structure and movement pattern of mechanical devices can be altered in ways not possible in studies of living animals, facilitating testing hypotheses of the functional and performance significant of individual traits. Robotic models of organismal design are particularly useful in three arenas: (1) controlling variation to allow modification only of the trait of interest, (2) the direct measurement of energetic costs of individual traits, and (3) quantification of the performance landscape. Obtaining data in these three areas is extremely difficult through the study of living organisms alone, and the use of robotic models can reveal unexpected effects. Controlling for all variables except for the length of a swimming flexible object reveals substantial non-linear effects that vary with stiffness. Quantification of the swimming performance surface reveals that there are two peaks with comparable efficiency, greatly complicating the inference of performance from morphology alone. Organisms and their ecological interactions are complex, and dissecting this complexity to understand the effects of individual traits is a grand challenge in ecology and evolutionary biology. Robotics has great promise as a "comparative method," allowing better-controlled comparative studies to analyze the many interacting elements that make up complex behaviors, ecological interactions, and evolutionary histories.