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Iida N, Matsumoto M. A Sheet-Shaped Transforming Robot That Can Be Thrown from the Air. Biomimetics (Basel) 2024; 9:287. [PMID: 38786497 PMCID: PMC11117557 DOI: 10.3390/biomimetics9050287] [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: 03/25/2024] [Revised: 04/30/2024] [Accepted: 05/09/2024] [Indexed: 05/25/2024] Open
Abstract
In this paper, we describe a sheet-shaped throwable transforming robot. Sheet-type robots can change their shape to perform tasks according to the situation. Therefore, they are expected to be useful in places with many restrictions, such as disaster sites. However, most of them can only move slowly on the ground. Therefore, in order to actually deliver the robot to the disaster site, it must be carried manually. To solve this problem, we are developing a sheet-shaped robot that can be thrown from the sky. Previously developed prototypes could only move in the forward direction, and the transition from falling to walking was complicated and uncertain. In this paper, we report on a new prototype that improves on these shortcomings.
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Affiliation(s)
| | - Mitsuharu Matsumoto
- Graduate School of Informatics and Engineering, University of Electro-Communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan;
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2
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Buckley J, Chikere N, Ozkan-Aydin Y. The effect of tail stiffness on a sprawling quadruped locomotion. Front Robot AI 2023; 10:1198749. [PMID: 37692530 PMCID: PMC10484481 DOI: 10.3389/frobt.2023.1198749] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/02/2023] [Accepted: 08/09/2023] [Indexed: 09/12/2023] Open
Abstract
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems, including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping. Similarly, tails in legged robots may augment the stability and maneuverability of legged robots by providing an additional point of contact with the ground. However, in the field of terrestrial bio-inspired legged robotics, the tail is often ignored because of the difficulties in design and control. In this study, we test the hypothesis that a variable stiffness robotic tail can improve the performance of a sprawling quadruped robot by enhancing its stability and maneuverability in various environments. In order to validate our hypothesis, we integrated a cable-driven, flexible tail with multiple segments into the underactuated sprawling quadruped robot, where a single servo motor working alongside a reel and cable mechanism regulates the tail's stiffness. Our results demonstrated that by controlling the stiffness of the tail, the stability of locomotion on rough terrain and the climbing ability of the robot are improved compared to the movement with a rigid tail and no tail. Our findings highlight that constant ground support provided by the flexible tail is key to maintaining stable locomotion. This ensured a predictable gait cycle, eliminating unexpected turning and slipping, resulting in an increase in locomotion speed and efficiency. Additionally, we observed the robot's enhanced climbing ability on surfaces inclined up to 20°. The flexibility of the tail enabled the robot to overcome obstacles without external sensing, exhibiting significant adaptability across various terrains.
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Affiliation(s)
- Josh Buckley
- Department of Biomedical Engineering, University of Galway, County Galway, Ireland
| | - Nnamdi Chikere
- Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, United States
| | - Yasemin Ozkan-Aydin
- Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, United States
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3
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Ortega-Jimenez VM, Jusufi A, Brown CE, Zeng Y, Kumar S, Siddall R, Kim B, Challita EJ, Pavlik Z, Priess M, Umhofer T, Koh JS, Socha JJ, Dudley R, Bhamla MS. Air-to-land transitions: from wingless animals and plant seeds to shuttlecocks and bio-inspired robots. BIOINSPIRATION & BIOMIMETICS 2023; 18:051001. [PMID: 37552773 DOI: 10.1088/1748-3190/acdb1c] [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: 01/08/2023] [Accepted: 06/02/2023] [Indexed: 08/10/2023]
Abstract
Recent observations of wingless animals, including jumping nematodes, springtails, insects, and wingless vertebrates like geckos, snakes, and salamanders, have shown that their adaptations and body morphing are essential for rapid self-righting and controlled landing. These skills can reduce the risk of physical damage during collision, minimize recoil during landing, and allow for a quick escape response to minimize predation risk. The size, mass distribution, and speed of an animal determine its self-righting method, with larger animals depending on the conservation of angular momentum and smaller animals primarily using aerodynamic forces. Many animals falling through the air, from nematodes to salamanders, adopt a skydiving posture while descending. Similarly, plant seeds such as dandelions and samaras are able to turn upright in mid-air using aerodynamic forces and produce high decelerations. These aerial capabilities allow for a wide dispersal range, low-impact collisions, and effective landing and settling. Recently, small robots that can right themselves for controlled landings have been designed based on principles of aerial maneuvering in animals. Further research into the effects of unsteady flows on self-righting and landing in small arthropods, particularly those exhibiting explosive catapulting, could reveal how morphological features, flow dynamics, and physical mechanisms contribute to effective mid-air control. More broadly, studying apterygote (wingless insects) landing could also provide insight into the origin of insect flight. These research efforts have the potential to lead to the bio-inspired design of aerial micro-vehicles, sports projectiles, parachutes, and impulsive robots that can land upright in unsteady flow conditions.
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Affiliation(s)
- Victor M Ortega-Jimenez
- School of Biology and Ecology, University of Maine, Orono, ME 04469, United States of America
| | - Ardian Jusufi
- Soft Kinetic Group, Engineering Sciences Department, Empa Swiss Federal Laboratories for Materials Science and Technology, Ueberlandstrasse 129, Dübendorf 8600, Switzerland
- University of Zurich, Institutes for Neuroinformatics and Palaeontology, Winterthurerstrasse 190, Zurich 8057, Switzerland
- Macquarie University, Sydney, NSW 2109, Australia
| | - Christian E Brown
- Department of Integrative Biology, University of South Florida, 4202 East Fowler Avenue, Science Center 110, Tampa, FL 33620, United States of America
| | - Yu Zeng
- Department of Integrative Biology, University of South Florida, 4202 East Fowler Avenue, Science Center 110, Tampa, FL 33620, United States of America
- Department of Integrative Biology, University of California, Berkeley, CA 94720, United States of America
| | - Sunny Kumar
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, GA 30318, United States of America
| | - Robert Siddall
- Aerial Robotics Lab, Imperial College of London, London, United Kingdom
| | - Baekgyeom Kim
- Department of Mechanical Engineering, Ajou University, Gyeonggi-do 16499, Republic of Korea
| | - Elio J Challita
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, GA 30318, United States of America
| | - Zoe Pavlik
- School of Biology and Ecology, University of Maine, Orono, ME 04469, United States of America
| | - Meredith Priess
- School of Biology and Ecology, University of Maine, Orono, ME 04469, United States of America
| | - Thomas Umhofer
- School of Biology and Ecology, University of Maine, Orono, ME 04469, United States of America
| | - Je-Sung Koh
- Department of Mechanical Engineering, Ajou University, Gyeonggi-do 16499, Republic of Korea
| | - John J Socha
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA, United States of America
| | - Robert Dudley
- Department of Integrative Biology, University of South Florida, 4202 East Fowler Avenue, Science Center 110, Tampa, FL 33620, United States of America
- Smithsonian Tropical Research Institute, Balboa, Panama
| | - M Saad Bhamla
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, GA 30318, United States of America
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Ma T, Zhang T, Ma O. On the dynamics and control of a squirrel locking its head/eyes toward a fixed spot for safe landing while its body is tumbling in air. Front Robot AI 2022; 9:1030601. [PMID: 36504492 PMCID: PMC9729943 DOI: 10.3389/frobt.2022.1030601] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/29/2022] [Accepted: 10/28/2022] [Indexed: 11/25/2022] Open
Abstract
An arboreal mammal such as a squirrel can amazingly lock its head (and thus eyes) toward a fixed spot for safe landing while its body is tumbling in air after unexpectedly being thrown into air. Such an impressive ability of body motion control of squirrels has been shown in a recent YouTube video, which has amazed public with over 100 million views. In the video, a squirrel attracted to food crawled onto an ejection device and was unknowingly ejected into air by the device. During the resulting projectile flight, the squirrel managed to quickly turn its head (eyes) toward and then keeps staring at the landing spot until it safely landed on feet. Understanding the underline dynamics and how the squirrel does this behavior can inspire robotics researchers to develop bio-inspired control strategies for challenging robotic operations such as hopping/jumping robots operating in an unstructured environment. To study this problem, we implemented a 2D multibody dynamics model, which simulated the dynamic motion behavior of the main body segments of a squirrel in a vertical motion plane. The inevitable physical contact between the body segments is also modeled and simulated. Then, we introduced two motion control methods aiming at locking the body representing the head of the squirrel toward a globally fixed spot while the other body segments of the squirrel were undergoing a general 2D rotation and translation. One of the control methods is a conventional proportional-derivative (PD) controller, and the other is a reinforcement learning (RL)-based controller. Our simulation-based experiment shows that both controllers can achieve the intended control goal, quickly turning and then locking the head toward a globally fixed spot under any feasible initial motion conditions. In comparison, the RL-based method is more robust against random noise in sensor data and also more robust under unexpected initial conditions.
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Affiliation(s)
- Tianqi Ma
- Department of Automation, Tsinghua University, Beijing, China,*Correspondence: Tianqi Ma,
| | - Tao Zhang
- Department of Automation, Tsinghua University, Beijing, China
| | - Ou Ma
- Department of Aerospace and Engineering Mechanics, University of Cincinnati, Cincinnati, OH, United States
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Zang G, Dai Z, Manoonpong P. The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review. Front Bioeng Biotechnol 2022; 10:900389. [PMID: 35910016 PMCID: PMC9335492 DOI: 10.3389/fbioe.2022.900389] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2022] [Accepted: 06/07/2022] [Indexed: 11/13/2022] Open
Abstract
Geckos use millions of dry bristles on their toes to adhere to and rapidly run up walls and across ceilings. This has inspired the successful development of dry adhesive materials and their application to climbing robots. The tails of geckos also help realize adaptive and robust climbing behavior. Existing climbing robots with gecko-inspired tails have demonstrated improved locomotion performance. However, few studies have focused on the role of a robot’s gecko-inspired tail when climbing a sloped surface and its effects on the overall locomotion performance. Thus, this paper reviews and analyzes the roles of the tails of geckos and robots in terms of their climbing performances and compares the advantages and disadvantages of robots’ tails made of rigid and soft materials. This review could assist roboticists decide whether a tail is required for their robots and which materials and motion types to use for the tail in order to fulfill their desired functions and even allow the robots to adapt to different environments and tasks.
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Affiliation(s)
- Guangyuan Zang
- Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- *Correspondence: Guangyuan Zang, ; Poramate Manoonpong,
| | - 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
- Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
- *Correspondence: Guangyuan Zang, ; Poramate Manoonpong,
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Fukushima T, Siddall R, Schwab F, Toussaint SLD, Byrnes G, Nyakatura JA, Jusufi A. Inertial Tail Effects during Righting of Squirrels in Unexpected Falls: From Behavior to Robotics. Integr Comp Biol 2021; 61:589-602. [PMID: 33930150 PMCID: PMC8427179 DOI: 10.1093/icb/icab023] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/31/2022] Open
Abstract
Arboreal mammals navigate a highly three dimensional and discontinuous habitat. Among arboreal mammals, squirrels demonstrate impressive agility. In a recent "viral" YouTube video, unsuspecting squirrels were mechanically catapulted off of a track, inducing an initially uncontrolled rotation of the body. Interestingly, they skillfully stabilized themselves using tail motion, which ultimately allowed the squirrels to land successfully. Here we analyze the mechanism by which the squirrels recover from large body angular rates. We analyzed from the video that squirrels first use their tail to help stabilizing their head to visually fix a landing site. Then the tail starts to rotate to help stabilizing the body, preparing themselves for landing. To analyze further the mechanism of this tail use during mid-air, we built a multibody squirrel model and showed the righting strategy based on body inertia moment changes and active angular momentum transfer between axes. To validate the hypothesized strategy, we made a squirrel-like robot and demonstrated a fall-stabilizing experiment. Our results demonstrate that a squirrel's long tail, despite comprising just 3% of body mass, can inertially stabilize a rapidly rotating body. This research contributes to better understanding the importance of long tails for righting mechanisms in animals living in complex environments such as trees.
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Affiliation(s)
- Toshihiko Fukushima
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, Stuttgart 70569, Germany
| | - Robert Siddall
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, Stuttgart 70569, Germany
| | - Fabian Schwab
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, Stuttgart 70569, Germany
| | - Séverine L D Toussaint
- Institute of Biology, Humboldt University of Berlin, Philippstrasse 13, Haus 2, 10115 Berlin, Germany
| | - Greg Byrnes
- Department of Biology, Siena College, 515 Loudon Road, Loudonville, NY 12211, USA
| | - John A Nyakatura
- Institute of Biology, Humboldt University of Berlin, Philippstrasse 13, Haus 2, 10115 Berlin, Germany
| | - Ardian Jusufi
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, Stuttgart 70569, Germany
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Schwab F, Lunsford ET, Hong T, Wiesemüller F, Kovac M, Park YL, Akanyeti O, Liao JC, Jusufi A. Body Caudal Undulation measured by Soft Sensors and emulated by Soft Artificial Muscles. Integr Comp Biol 2021; 61:1955-1965. [PMID: 34415009 PMCID: PMC8699111 DOI: 10.1093/icb/icab182] [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] [Revised: 08/15/2021] [Accepted: 08/18/2021] [Indexed: 11/16/2022] Open
Abstract
We propose the use of bio-inspired robotics equipped with soft sensor technologies to gain a better understanding of the mechanics and control of animal movement. Soft robotic systems can be used to generate new hypotheses and uncover fundamental principles underlying animal locomotion and sensory capabilities, which could subsequently be validated using living organisms. Physical models increasingly include lateral body movements, notably back and tail bending, which are necessary for horizontal plane undulation in model systems ranging from fish to amphibians and reptiles. We present a comparative study of the use of physical modeling in conjunction with soft robotics and integrated soft and hyperelastic sensors to monitor local pressures, enabling local feedback control, and discuss issues related to understanding the mechanics and control of undulatory locomotion. A parallel approach combining live animal data with biorobotic physical modeling promises to be beneficial for gaining a better understanding of systems in motion.
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Affiliation(s)
- Fabian Schwab
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany
| | - Elias T Lunsford
- Department of Biology, Whitney Laboratory for Marine Bioscience, University of Florida, Saint Augustine, Florida, 32080, U.S.A
| | - Taehwa Hong
- Department of Mechanical Engineering, Seoul National University, Seoul, 08826, Korea
| | - Fabian Wiesemüller
- Materials and Technology Center of Robotics, EMPA, Überlandstrasse 129, Zürich, 8600, Switzerland.,Aerial Robotics Lab (ARL), Department of Aeronautics, Imperial College London, South Kensington Campus, London, SW7 2AZ, UK
| | - Mirko Kovac
- Materials and Technology Center of Robotics, EMPA, Überlandstrasse 129, Zürich, 8600, Switzerland.,Aerial Robotics Lab (ARL), Department of Aeronautics, Imperial College London, South Kensington Campus, London, SW7 2AZ, UK
| | - Yong-Lae Park
- Department of Mechanical Engineering, Seoul National University, Seoul, 08826, Korea
| | - Otar Akanyeti
- Department of Biology, Whitney Laboratory for Marine Bioscience, University of Florida, Saint Augustine, Florida, 32080, U.S.A.,Department of Computer Science, Aberystwyth University, Aberystwyth, Ceredigion, SY23 3FL, UK
| | - James C Liao
- Department of Biology, Whitney Laboratory for Marine Bioscience, University of Florida, Saint Augustine, Florida, 32080, U.S.A
| | - Ardian Jusufi
- Locomotion in Biorobotic and Somatic Systems Group, Max Planck Institute for Intelligent Systems, Heisenbergstraße 3, 70569, Stuttgart, Germany
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Schwaner MJ, Hsieh ST, Swalla BJ, McGowan CP. An introduction to an evolutionary tail: EvoDevo, structure and function of post-anal appendages. Integr Comp Biol 2021; 61:352-357. [PMID: 34124748 DOI: 10.1093/icb/icab134] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/06/2023] Open
Abstract
Although tails are common and versatile appendages that contribute to evolutionary success of animals in a broad range of ways, a scientific synthesis on the topic had yet to be initiated. For our Society for Integrative and Comparative Biology (SICB) symposium we brought together researchers from different areas of expertise (e.g., robotosists, biomechanists, functional morphologists, and evolutionary and developmental biologists), to highlight their research but also to emphasize the interdisciplinary nature of this topic. The four main themes that emerged based on the research presented in this symposium are: 1) How do we define a tail? 2) Development and regeneration inform evolutionary origins of tails, 3) Identifying key characteristics highlights functional morphology of tails, 4) Tail multi-functionality leads to the development of bioinspired technology. We discuss the research provided within this symposium, in light of these four themes. We showcase the broad diversity of current tail research and lay an important foundational framework for future interdisciplinary research on tails with this timely symposium.
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Affiliation(s)
- M J Schwaner
- Department of Ecology and Evolutionary Biology, University of California Irvine, Irvine, CA, USA
| | - S T Hsieh
- Department of Biology, Temple University, Philadelphia, PA, USA
| | - B J Swalla
- Department of Biology, University of Washington, Seattle, WA, USA
| | - C P McGowan
- Department of Integrative Anatomical Sciences, University of Southern California, Los Angeles, CA, USA
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