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Lin CY, Lee JM. Multi-Locomotion Design and Implementation of Transverse Ledge Brachiation Robot Inspired by Sport Climbing. Biomimetics (Basel) 2023; 8:biomimetics8020204. [PMID: 37218790 DOI: 10.3390/biomimetics8020204] [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: 03/23/2023] [Revised: 05/12/2023] [Accepted: 05/15/2023] [Indexed: 05/24/2023] Open
Abstract
Brachiation robots mimic the locomotion of bio-primates, including continuous brachiation and ricochetal brachiation. The hand-eye coordination involved in ricochetal brachiation is complex. Few studies have integrated both continuous and ricochetal brachiation within the same robot. This study seeks to fill this gap. The proposed design mimics the transverse movements of sports climbers holding onto horizontal wall ledges. We analyzed the cause-and-effect relationship among the phases of a single locomotion cycle. This led us to apply a parallel four-link posture constraint in model-based simulation. To facilitate smooth coordination and efficient energy accumulation, we derived the required phase switching conditions as well as joint motion trajectories. Based on a two-hand-release design, we propose a new style of transverse ricochetal brachiation. This design better exploits inertial energy storage for enhanced moving distance. Experiments demonstrate the effectiveness of the proposed design. A simple evaluation method based on the final robot posture from the previous locomotion cycle is applied to predict the success of subsequent locomotion cycles. This evaluation method serves as a valuable reference for future research.
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Affiliation(s)
- Chi-Ying Lin
- Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Rd., Sec. 4, Taipei 106, Taiwan
| | - Jhe-Ming Lee
- Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Rd., Sec. 4, Taipei 106, Taiwan
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Schultz JT, Labonte D, Clemente CJ. Multilevel dynamic adjustments of geckos ( Hemidactylus frenatus) climbing vertically: head-up versus head-down. J R Soc Interface 2023; 20:20220840. [PMID: 37015264 PMCID: PMC10072943 DOI: 10.1098/rsif.2022.0840] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/21/2022] [Accepted: 03/13/2023] [Indexed: 04/06/2023] Open
Abstract
Many climbing animals use direction-dependent adhesives to attach to vertical or inclined surfaces. These structures adhere when activated via a pull but detach when pushed. Therefore, a challenge arises when a change in climbing direction causes external forces such as gravity to change its acting orientation upon the lizard. To investigate how specialized climbers adjust, we studied kinematics and dynamics of six Hemidactylus frenatus geckos climbing head-up and head-down a vertical racetrack. We found that limbs functionally swap their adhesive role: feet above the centre of mass (COM) generated adhesive forces, feet below the COM compressive forces, both equal in magnitude across directions. To investigate how lizards perform this swap, despite the constraint of their direction-dependent adhesives, we analysed kinematic adjustments across multiple smaller levels of hierarchy: limbs, feet and toes. All levels contributed: the hindfoot angle was reoriented realigning the adhesive structure, the hindlimb centre range of motion was further protracted and the hindfoot toe spreading was reduced. Notably, all three variables were adjustments of hindlimbs, suggesting that they make a more flexible contribution in upward versus downward climbing, while forelimbs may be anatomically or functionally constrained. The relevance of multilevel dynamic adjustments might inform the development of performant gaits for legged climbing robots.
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Affiliation(s)
- Johanna T. Schultz
- School of Science and Engineering, University of the Sunshine Coast, Queensland, Australia
- The Robotics and Autonomous Systems Group, CSIRO Data61, Queensland, Australia
| | - David Labonte
- Department of Bioengineering, Imperial College London, London, UK
| | - Christofer J. Clemente
- School of Science and Engineering, University of the Sunshine Coast, Queensland, Australia
- School of Biomedical Sciences, The University of Queensland, Saint Lucia, Queensland, Australia
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Jahn M, Seebacher F. Variations in cost of transport and their ecological consequences: a review. J Exp Biol 2022; 225:276242. [PMID: 35942859 DOI: 10.1242/jeb.243646] [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: 11/20/2022]
Abstract
Movement is essential in the ecology of most animals, and it typically consumes a large proportion of individual energy budgets. Environmental conditions modulate the energetic cost of movement (cost of transport, COT), and there are pronounced differences in COT between individuals within species and across species. Differences in morphology affect COT, but the physiological mechanisms underlying variation in COT remain unresolved. Candidates include mitochondrial efficiency and the efficiency of muscle contraction-relaxation dynamics. Animals can offset increased COT behaviourally by adjusting movement rate and habitat selection. Here, we review the theory underlying COT and the impact of environmental changes on COT. Increasing temperatures, in particular, increase COT and its variability between individuals. Thermal acclimation and exercise can affect COT, but this is not consistent across taxa. Anthropogenic pollutants can increase COT, although few chemical pollutants have been investigated. Ecologically, COT may modify the allocation of energy to different fitness-related functions, and thereby influence fitness of individuals, and the dynamics of animal groups and communities. Future research should consider the effects of multiple stressors on COT, including a broader range of pollutants, the underlying mechanisms of COT and experimental quantifications of potential COT-induced allocation trade-offs.
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Affiliation(s)
- Miki Jahn
- School of Life and Environmental Sciences A08, University of Sydney, Sydney, NSW 2006, Australia
| | - Frank Seebacher
- School of Life and Environmental Sciences A08, University of Sydney, Sydney, NSW 2006, Australia
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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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Conley DA, Lattanzio MS. Active regulation of ultraviolet light exposure overrides thermal preference behaviour in eastern fence lizards. Funct Ecol 2022. [DOI: 10.1111/1365-2435.14114] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Affiliation(s)
- Dane A. Conley
- Department of Organismal and Environmental Biology Christopher Newport University Newport News VA USA
| | - Matthew S. Lattanzio
- Department of Organismal and Environmental Biology Christopher Newport University Newport News VA USA
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Song Y, Weng Z, Yuan J, Zhang L, Wang Z, Dai Z, Full RJ. Incline-dependent adjustments of toes in geckos inspire functional strategies for biomimetic manipulators. BIOINSPIRATION & BIOMIMETICS 2022; 17:046010. [PMID: 35390775 DOI: 10.1088/1748-3190/ac6557] [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: 11/26/2021] [Accepted: 04/07/2022] [Indexed: 06/14/2023]
Abstract
Geckos show versatility by rapidly maneuvering on diverse complex terrain because they benefit from their distributed, setae-covered toes and thus have the ability to generate reliable and adaptive attachment. Significant attention has been paid to their adhesive microstructures (setae), but the effectiveness of the gecko's adaptive attachment at the level of toes and feet remains unclear. In order to better understand the geckos' attachment, we first focused on the deployment of toes while challenging geckos to locomote on varying inclines. When the slope angle was less than 30°, their feet mainly interacted with the substrate using the bases of the toes and generated anisotropic frictional forces. As the slope angle increased to 90°, the participation of the toe bases was reduced. Instead, the setae contribution increased for the middle three toes of the front feet and for the first three toes of the hind feet. As the incline changed from vertical to inverted, the adhesive contribution of the toes of the front feet became more equal, whereas the effective adhesion contact of the hind feet gradually shifted to the toes oriented rearwards. Second, a mathematical model was established and then suggested the potential advantages of distributed control among the toes to regulate foot force. Finally, a physical foot model containing five compliant, adjustable toes was constructed and validated the discoveries with regard to the animals. Using the gecko toes' control strategies, the artificial foot demonstrated diverse behavior regulating attachment forces. The success of the foot prototype not only tested our understanding of the mechanism of biological attachment, but also provided a demonstration for the design and control of gecko-inspired attachment devices, grippers and other manipulators.
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Affiliation(s)
- Yi Song
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Zhiyuan Weng
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Jiwei Yuan
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Linghao Zhang
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Zhouyi Wang
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Zhendong Dai
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, People's Republic of China
| | - Robert J Full
- Department of Integrative Biology, University of California, Berkeley, Valley Life Science Building, Berkeley, CA 94702, United States of America
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Beck HK, Schultz JT, Clemente CJ. A bio-inspired robotic climbing robot to understand kinematic and morphological determinants for an optimal climbing gait. BIOINSPIRATION & BIOMIMETICS 2021; 17:016005. [PMID: 34740206 DOI: 10.1088/1748-3190/ac370f] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/27/2021] [Accepted: 11/05/2021] [Indexed: 06/13/2023]
Abstract
Robotic systems for complex tasks, such as search and rescue or exploration, are limited for wheeled designs, thus the study of legged locomotion for robotic applications has become increasingly important. To successfully navigate in regions with rough terrain, a robot must not only be able to negotiate obstacles, but also climb steep inclines. Following the principles of biomimetics, we developed a modular bio-inspired climbing robot, named X4, which mimics the lizard's bauplan including an actuated spine, shoulders, and feet which interlock with the surface via claws. We included the ability to modify gait and hardware parameters and simultaneously collect data with the robot's sensors on climbed distance, slip occurrence and efficiency. We first explored the speed-stability trade-off and its interaction with limb swing phase dynamics, finding a sigmoidal pattern of limb movement resulted in the greatest distance travelled. By modifying foot orientation, we found two optima for both speed and stability, suggesting multiple stable configurations. We varied spine and limb range of motion, again showing two possible optimum configurations, and finally varied the centre of pro- and retraction on climbing performance, showing an advantage for protracted limbs during the stride. We then stacked optimal regions of performance and show that combining optimal dynamic patterns with either foot angles or ROM configurations have the greatest performance, but further optima stacking resulted in a decrease in performance, suggesting complex interactions between kinematic parameters. The search of optimal parameter configurations might not only be beneficial to improve robotic in-field operations but may also further the study of the locomotive evolution of climbing of animals, like lizards or insects.
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Affiliation(s)
| | - Johanna T Schultz
- School of Science, Technology and Engineering, University of the Sunshine Coast, QLD, Australia
- The Robotics and Autonomous Systems Group, CSIRO Data61, QLD, Australia
| | - Christofer J Clemente
- School of Science, Technology and Engineering, University of the Sunshine Coast, QLD, Australia
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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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Basu C. Wiggling robot lizards mimic geckos climbing up walls. J Exp Biol 2021. [DOI: 10.1242/jeb.235382] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022]
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Schultz JT, Cieri RL, Proost T, Pilai R, Hodgson M, Plum F, Clemente CJ. Tail base deflection but not tail curvature varies with speed in lizards: results from an automated tracking analysis pipeline. Integr Comp Biol 2021; 61:1769-1782. [PMID: 34009307 DOI: 10.1093/icb/icab037] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Tail movement is an important component of vertebrate locomotion, and likely contributes to dynamic stability during steady-state locomotion. Previous results suggest that the tail plays a significant role in lizard locomotion, but little data are available on tail motion during locomotion and how it differs with morphological, ecological, and phylogenetic parameters. We collected high-speed vertical climbing and horizontal locomotion video data from 43 lizard species from 4 taxonomic groups (Agamidae, Gekkota, Scincidae, Varanidae) and 4 habitats. We introduce a new semi-automated and generalizable analysis pipeline for tail and spine motion analysis including markerless pose-estimation, semi-automated kinematic recognition, and muti-species data analysis. We found that step length relative to SVL increased with tail length relative to SVL. Examining spine cycles agnostic to limb stride phase, we found that ranges of inter-tail bending compared to inter-spine bending increased with relative tail length while ranges of tail deflection relative to spine deflection increased with relative speed. Considering stepwise strides, we found the angular velocity and acceleration of the tail center of mass increased with relative speed. These results will provide general insights into the biomechanics of tails in sprawling locomotion enabling biomimetic applications in robotics, and a better understanding of vertebrate form and function. We look forward to adding more species, behaviors, and locomotor speeds to our analysis pipeline through collaboration with other research groups.
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Affiliation(s)
- Johanna T Schultz
- School of Science and Engineering, University of the Sunshine Coast, QLD, Australia.,The Robotics and Autonomous Systems Group, CSIRO Data61, QLD, Australia
| | - Robert L Cieri
- School of Science and Engineering, University of the Sunshine Coast, QLD, Australia
| | - Tasmin Proost
- School of Science and Engineering, University of the Sunshine Coast, QLD, Australia
| | - Rishab Pilai
- College of Science and Engineering, James Cook University, QLD, Australia
| | - Mitchell Hodgson
- Evolution & Ecology Research Centre, School of Biological, Earth, and Environmental Sciences, University of New South Wales, Sydney, New South Wales 2052, Australia
| | - Fabian Plum
- Department of Bioengineering, Imperial College London, London, UK
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