1
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Challita EJ, Rohilla P, Bhamla MS. Fluid Ejections in Nature. Annu Rev Chem Biomol Eng 2024; 15:187-217. [PMID: 38669514 PMCID: PMC11269045 DOI: 10.1146/annurev-chembioeng-100722-113148] [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] [Indexed: 04/28/2024]
Abstract
From microscopic fungi to colossal whales, fluid ejections are universal and intricate phenomena in biology, serving vital functions such as animal excretion, venom spraying, prey hunting, spore dispersal, and plant guttation. This review delves into the complex fluid physics of ejections across various scales, exploring both muscle-powered active systems and passive mechanisms driven by gravity or osmosis. It introduces a framework using dimensionless numbers to delineate transitions from dripping to jetting and elucidate the governing forces. Highlighting the understudied area of complex fluid ejections, this review not only rationalizes the biophysics involved but also uncovers potential engineering applications in soft robotics, additive manufacturing, and drug delivery. By bridging biomechanics, the physics of living systems, and fluid dynamics, this review offers valuable insights into the diverse world of fluid ejections and paves the way for future bioinspired research across the spectrum of life.
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Affiliation(s)
- Elio J Challita
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA;
| | - Pankaj Rohilla
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA;
| | - M Saad Bhamla
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA;
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2
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Jiang Q, Hu Z, Wu K, Wu W, Zhang S, Ding H, Wu Z. Squid-Inspired Powerful Untethered Soft Pumps via Magnetically Induced Phase Transitions. Soft Robot 2024; 11:423-431. [PMID: 38011800 DOI: 10.1089/soro.2022.0118] [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: 11/29/2023] Open
Abstract
Soft robots possess unique deformability and hence result in great adaptability to various unconstructive environments; meanwhile, untethered soft actuation techniques are critical in fully exploiting their potential for practical applications. However, restricted by the material's softness and structural compliance, most untethered actuation systems were incapable of achieving fully soft construction with a powerful output. While in Nature, with a fully soft body, a squid can burst high-pressure jet flow from a cavity that drives the squid to swim swiftly. Here, inspired by such a unique actuation strategy of squids, an entirely soft pump capable of high-pressure output, fast jetting, and untethered control is presented, and it helps a bionic soft robotic squid to achieve a high-efficient untethered motion in water. The soft pump is designed by a reversible liquid-gas phase transition of an inductive heating magnetic liquid metal composite that acts as an adjustable power source with high heat efficiency. In particular, being purely soft, the pump can yet lift ∼20 times its weight and achieve ∼3 times the specific pressure of the previous record. It may promote the application of soft robots with independent actuation, high output power, and embodied energy supply.
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Affiliation(s)
- Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Zhitong Hu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Kefan Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Wenjun Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
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3
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Prakash A, Nair AR, Arunav H, P R R, Akhil VM, Tawk C, Shankar KV. Bioinspiration and biomimetics in marine robotics: a review on current applications and future trends. BIOINSPIRATION & BIOMIMETICS 2024; 19:031002. [PMID: 38467071 DOI: 10.1088/1748-3190/ad3265] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/01/2023] [Accepted: 03/11/2024] [Indexed: 03/13/2024]
Abstract
Over the past few years, the research community has witnessed a burgeoning interest in biomimetics, particularly within the marine sector. The study of biomimicry as a revolutionary remedy for numerous commercial and research-based marine businesses has been spurred by the difficulties presented by the harsh maritime environment. Biomimetic marine robots are at the forefront of this innovation by imitating various structures and behaviors of marine life and utilizing the evolutionary advantages and adaptations these marine organisms have developed over millennia to thrive in harsh conditions. This thorough examination explores current developments and research efforts in biomimetic marine robots based on their propulsion mechanisms. By examining these biomimetic designs, the review aims to solve the mysteries buried in the natural world and provide vital information for marine improvements. In addition to illuminating the complexities of these bio-inspired mechanisms, the investigation helps to steer future research directions and possible obstacles, spurring additional advancements in the field of biomimetic marine robotics. Considering the revolutionary potential of using nature's inventiveness to navigate and thrive in one of the most challenging environments on Earth, the current review's conclusion urges a multidisciplinary approach by integrating robotics and biology. The field of biomimetic marine robotics not only represents a paradigm shift in our relationship with the oceans, but it also opens previously unimaginable possibilities for sustainable exploration and use of marine resources by understanding and imitating nature's solutions.
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Affiliation(s)
- Amal Prakash
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
| | - Arjun R Nair
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
| | - H Arunav
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
| | - Rthuraj P R
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
| | - V M Akhil
- School of Interdisciplinary Research, Indian Institute of Technology, Delhi, India
| | - Charbel Tawk
- Department of Industrial and Mechanical Engineering, School of Engineering, Lebanese American University, Byblos, Lebanon
| | - Karthik V Shankar
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
- Centre for Flexible Electronics and Advanced Materials, Amrita Vishwa Vidyapeetham, Amritapuri, India
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4
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Yu Q, Gravish N. Multimodal Locomotion in a Soft Robot Through Hierarchical Actuation. Soft Robot 2024; 11:21-31. [PMID: 37471221 DOI: 10.1089/soro.2022.0198] [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: 07/22/2023] Open
Abstract
Soft and continuum robots present the opportunity for extremely large ranges of motion, which can enable dexterous, adaptive, and multimodal locomotion behaviors. However, as the number of degrees of freedom (DOF) of a robot increases, the number of actuators should also increase to achieve the full actuation potential. This presents a dilemma in mobile soft robot design: physical space and power requirements restrict the number and type of actuators available and may ultimately limit the movement capabilities of soft robots with high-DOF appendages. Restrictions on actuation of continuum appendages ultimately may limit the various movement capabilities of soft robots. In this work, we demonstrate multimodal behaviors in an underwater robot called "Hexapus." A hierarchical actuation design for multiappendage soft robots is presented in which a single high-power motor actuates all appendages for locomotion, while smaller low-power motors augment the shape of each appendage. The flexible appendages are designed to be capable of hyperextension for thrust, and flexion for grasping with a peak pullout force of 32 N. For propulsion, we incorporate an elastic membrane connected across the base of each tentacle, which is stretched slowly by the high-power motor and released rapidly through a slip-gear mechanism. Through this actuation arrangement, Hexapus is capable of underwater locomotion with low cost of transport (COT = 1.44 at 16.5 mm/s) while swimming and a variety of multimodal locomotion behaviors, including swimming, turning, grasping, and crawling, which we demonstrate in experiment.
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Affiliation(s)
- Qifan Yu
- Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, California, USA
| | - Nick Gravish
- Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, California, USA
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5
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Kuwajima Y, Yamaguchi Y, Yamada Y, Morita T, Wiranata A, Minaminosono A, Hosoya N, Kakehi Y, Maeda S. Pocketable and Smart Electrohydrodynamic Pump for Clothes. ACS APPLIED MATERIALS & INTERFACES 2024; 16:1883-1891. [PMID: 38096263 PMCID: PMC10788827 DOI: 10.1021/acsami.3c15274] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/12/2023] [Revised: 11/24/2023] [Accepted: 11/27/2023] [Indexed: 01/12/2024]
Abstract
Seamlessly fusing fashion and functionality can redefine wearable technology and enhance the quality of life. We propose a pocketable and smart electrohydrodynamic pump (PSEP) with self-sensing capability for wearable thermal controls. Overcoming the constraints of traditional liquid-cooled wearables, PSEP with dimensions of 10 × 2 × 1.05 cm and a weight of 10 g is sufficiently compact to fit into a shirt pocket, providing stylish and unobtrusive thermal control. Silent operation coupled with the unique self-sensing ability to monitor the flow rate ensures system reliability without cumbersome additional components. The significant contribution of our study is the formulation and validation of a theoretical model for self-sensing in EHD pumps, thereby introducing an innovative functionality to EHD pump technology. PSEP can deliver temperature changes of up to 3 °C, considerably improving personal comfort. Additionally, the PSEP system features an intuitive, smartphone-compatible interface for seamless wireless control and monitoring, enhancing user interaction and convenience. Furthermore, the ability to detect and notify users of flow blockages, achieved by self-sensing, ensures an efficient and long-term operation. Through its blend of compact design, intelligent functionality, and stylish integration into daily wear, PSEP reshapes the landscape of wearable thermal control technology and offers a promising avenue for enhancing personal comfort in daily life.
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Affiliation(s)
- Yu Kuwajima
- Department
of Engineering Science and Mechanics, Shibaura
Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Yuya Yamaguchi
- Department
of Engineering Science and Mechanics, Shibaura
Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Yuhei Yamada
- Living
Systems Materialogy Research Group, International Research Frontiers
Initiative, Tokyo Institute of Technology, 4259, Nagatsuta-Cho, Midori-Ku, Yokohama, Kanagawa 226-8501, Japan
| | - Takafumi Morita
- The
University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113-8654, Japan
| | - Ardi Wiranata
- Department
of Mechanical and Industrial Engineering, Universitas Gadjah Mada, Jalan Grafika No. 2, Yogyakarta 55281, Indonesia
| | - Ayato Minaminosono
- Department
of Engineering Science and Mechanics, Shibaura
Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Naoki Hosoya
- Department
of Engineering Science and Mechanics, Shibaura
Institute of Technology, 3-7-5, Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Yasuaki Kakehi
- The
University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113-8654, Japan
| | - Shingo Maeda
- Department
of Mechanical Engineering, Tokyo Institute
of Technology, Ookayama, Meguro-ku, Tokyo 152-8550, Japan
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6
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Davies J, Thai MT, Low H, Phan PT, Hoang TT, Lovell NH, Do TN. Bio-SHARPE: Bioinspired Soft and High Aspect Ratio Pumping Element for Robotic and Medical Applications. Soft Robot 2023; 10:1055-1069. [PMID: 37130309 DOI: 10.1089/soro.2021.0154] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/04/2023] Open
Abstract
The advent of soft robots has solved many issues posed by their rigid counterparts, including safer interactions with humans and the capability to work in narrow and complex environments. While much work has been devoted to developing soft actuators and bioinspired mechatronic systems, comparatively little has been done to improve the methods of actuation. Hydraulically soft actuators (HSAs) are emerging candidates to control soft robots due to their fast responses, low noise, and low hysteresis compared to compressible pneumatic ones. Despite advances, current hydraulic sources for large HSAs are still bulky and require high power availability to drive the pumping plant. To overcome these challenges, this work presents a new bioinspired soft and high aspect ratio pumping element (Bio-SHARPE) for use in soft robotic and medical applications. This new soft pumping element can amplify its input volume to at least 8.6 times with a peak pressure of at least 40 kPa. The element can be integrated into existing hydraulic pumping systems like a hydraulic gearbox. Naturally, an amplification of fluid volume can only come at the sacrifice of pumping pressure, which was observed as a 19.1:1 reduction from input to output pressure. The new concept enables a large soft robotic body to be actuated by smaller fluid reservoirs and pumping plant, potentially reducing their power and weight, and thus facilitating drive source miniaturization. The high amplification ratio also makes soft robotic systems more applicable for human-centric applications such as rehabilitation aids, bioinspired untethered soft robots, medical devices, and soft artificial organs. Details of the fabrication and experimental characterization of the Bio-SHARPE and its associated components are given. A soft robotic squid and an artificial heart ventricle are introduced and experimentally validated.
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Affiliation(s)
- James Davies
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Mai Thanh Thai
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Harrison Low
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Phuoc Thien Phan
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Trung Thien Hoang
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Nigel Hamilton Lovell
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Thanh Nho Do
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
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7
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Wang T, Joo HJ, Song S, Hu W, Keplinger C, Sitti M. A versatile jellyfish-like robotic platform for effective underwater propulsion and manipulation. SCIENCE ADVANCES 2023; 9:eadg0292. [PMID: 37043565 PMCID: PMC10096580 DOI: 10.1126/sciadv.adg0292] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/30/2022] [Accepted: 03/13/2023] [Indexed: 05/27/2023]
Abstract
Underwater devices are critical for environmental applications. However, existing prototypes typically use bulky, noisy actuators and limited configurations. Consequently, they struggle to ensure noise-free and gentle interactions with underwater species when realizing practical functions. Therefore, we developed a jellyfish-like robotic platform enabled by a synergy of electrohydraulic actuators and a hybrid structure of rigid and soft components. Our 16-cm-diameter noise-free prototype could control the fluid flow to propel while manipulating objects to be kept beneath its body without physical contact, thereby enabling safer interactions. Its against-gravity speed was up to 6.1 cm/s, substantially quicker than other examples in literature, while only requiring a low input power of around 100 mW. Moreover, using the platform, we demonstrated contact-based object manipulation, fluidic mixing, shape adaptation, steering, wireless swimming, and cooperation of two to three robots. This study introduces a versatile jellyfish-like robotic platform with a wide range of functions for diverse applications.
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Affiliation(s)
- Tianlu Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland
| | - Hyeong-Joon Joo
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Shanyuan Song
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Bioinspired Autonomous Miniature Robots Group, Stuttgart 70569, Germany
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Bioinspired Autonomous Miniature Robots Group, Stuttgart 70569, Germany
| | - Christoph Keplinger
- Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Paul M. Rady Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO 80309, USA
- Materials Science and Engineering Program, University of Colorado Boulder, Boulder, CO 80309, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich 8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Turkey
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8
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Zhu Q. Wall effect on the start maneuver of a jet swimmer. BIOINSPIRATION & BIOMIMETICS 2023; 18:036003. [PMID: 36889000 DOI: 10.1088/1748-3190/acc293] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/14/2022] [Accepted: 03/08/2023] [Indexed: 06/18/2023]
Abstract
Inspired by aquatic creatures such as squid, the novel propulsion method based on pulsed jetting is a promising way to achieve high speed and high maneuverability. To study the potential application of this locomotion method in confined space with complicated boundary conditions, it is critical to understand their dynamics in the vicinity of solid boundaries. In this study we numerically examine the start maneuver of an idealized jet swimmer near a wall. Our simulations illustrate three important mechanisms: (1) due to the blocking effect of the wall the pressure inside the body is affected so that the forward acceleration is increased during deflation and decreased during inflation; (2) the wall affects the internal flow so that the momentum flux at the nozzle and subsequently the thrust generation during the jetting phase are slightly increased; (3) the wall affects the wake so that the refilling phase is influenced, leading to a scenario in which part of the energy expended during jetting is recovered during refilling to increase forward acceleration and reduce power expenditure. In general, the second mechanism is weaker than the other two. The exact effects of these mechanisms depend on physical parameters such as the initial phase of the body deformation, the distance between the swimming body and the wall, and the Reynolds number.
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Affiliation(s)
- Qiang Zhu
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
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9
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Li G, Shintake J, Hayashibe M. Soft-body dynamics induces energy efficiency in undulatory swimming: A deep learning study. Front Robot AI 2023; 10:1102854. [PMID: 36845333 PMCID: PMC9949375 DOI: 10.3389/frobt.2023.1102854] [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: 11/19/2022] [Accepted: 01/24/2023] [Indexed: 02/11/2023] Open
Abstract
Recently, soft robotics has gained considerable attention as it promises numerous applications thanks to unique features originating from the physical compliance of the robots. Biomimetic underwater robots are a promising application in soft robotics and are expected to achieve efficient swimming comparable to the real aquatic life in nature. However, the energy efficiency of soft robots of this type has not gained much attention and has been fully investigated previously. This paper presents a comparative study to verify the effect of soft-body dynamics on energy efficiency in underwater locomotion by comparing the swimming of soft and rigid snake robots. These robots have the same motor capacity, mass, and body dimensions while maintaining the same actuation degrees of freedom. Different gait patterns are explored using a controller based on grid search and the deep reinforcement learning controller to cover the large solution space for the actuation space. The quantitative analysis of the energy consumption of these gaits indicates that the soft snake robot consumed less energy to reach the same velocity as the rigid snake robot. When the robots swim at the same average velocity of 0.024 m/s, the required power for the soft-body robot is reduced by 80.4% compared to the rigid counterpart. The present study is expected to contribute to promoting a new research direction to emphasize the energy efficiency advantage of soft-body dynamics in robot design.
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Affiliation(s)
- Guanda Li
- Neuro-Robotics Lab, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan
| | - Jun Shintake
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Chofu, Japan
| | - Mitsuhiro Hayashibe
- Neuro-Robotics Lab, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan,*Correspondence: Mitsuhiro Hayashibe,
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10
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Tauber FJ, Slesarenko V. Early career scientists converse on the future of soft robotics. Front Robot AI 2023; 10:1129827. [PMID: 36909362 PMCID: PMC9994530 DOI: 10.3389/frobt.2023.1129827] [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: 12/22/2022] [Accepted: 02/09/2023] [Indexed: 02/24/2023] Open
Abstract
During the recent decade, we have witnessed an extraordinary flourishing of soft robotics. Rekindled interest in soft robots is partially associated with the advances in manufacturing techniques that enable the fabrication of sophisticated multi-material robotic bodies with dimensions ranging across multiple length scales. In recent manuscripts, a reader might find peculiar-looking soft robots capable of grasping, walking, or swimming. However, the growth in publication numbers does not always reflect the real progress in the field since many manuscripts employ very similar ideas and just tweak soft body geometries. Therefore, we unreservedly agree with the sentiment that future research must move beyond "soft for soft's sake." Soft robotics is an undoubtedly fascinating field, but it requires a critical assessment of the limitations and challenges, enabling us to spotlight the areas and directions where soft robots will have the best leverage over their traditional counterparts. In this perspective paper, we discuss the current state of robotic research related to such important aspects as energy autonomy, electronic-free logic, and sustainability. The goal is to critically look at perspectives of soft robotics from two opposite points of view provided by early career researchers and highlight the most promising future direction, that is, in our opinion, the employment of soft robotic technologies for soft bio-inspired artificial organs.
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Affiliation(s)
- Falk J Tauber
- Cluster of Excellence livMatS, FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany.,Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Freiburg im Breisgau, Germany
| | - Viacheslav Slesarenko
- Cluster of Excellence livMatS, FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg im Breisgau, Germany
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11
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Ye J, Yao YC, Gao JY, Chen S, Zhang P, Sheng L, Liu J. LM-Jelly: Liquid Metal Enabled Biomimetic Robotic Jellyfish. Soft Robot 2022; 9:1098-1107. [PMID: 35486839 DOI: 10.1089/soro.2021.0055] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023] Open
Abstract
Jellyfish have attracted worldwide attention owing to their fantastic moving styles, which also inspired development in soft robotics to meet the demands of underwater surveillance. In this study, a soft robotic jellyfish integrated liquid metal coil, and magnetic field is proposed for the first time to mimic the soft rowing propulsion of oblate jellyfish. The soft robotic jellyfish is actuated by the entirely soft electromagnetic actuators that enabled the gentle motion. Through conceptual experiments and computational fluid dynamics simulations, we systematically interpreted the mechanism of this robotic jellyfish and various factors to dominate its movement behaviors, which involve vortex formation and ascending modalities. Besides, underwater monitoring and bio-friendliness of robotic jellyfish were also demonstrated to illustrate its potential application scenarios and gentle motion characteristics. This study will help to broaden the vistas for liquid metal enabled bionic robotics in a wide range of underwater applications.
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Affiliation(s)
- Jiao Ye
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Yu-Chen Yao
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Jian-Ye Gao
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China
| | - Sen Chen
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Pan Zhang
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Lei Sheng
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
| | - Jing Liu
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China.,School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China.,Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China
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12
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Chi Y, Hong Y, Zhao Y, Li Y, Yin J. Snapping for high-speed and high-efficient butterfly stroke-like soft swimmer. SCIENCE ADVANCES 2022; 8:eadd3788. [PMID: 36399554 PMCID: PMC9674291 DOI: 10.1126/sciadv.add3788] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/08/2022] [Accepted: 10/03/2022] [Indexed: 06/16/2023]
Abstract
Natural selection has tuned many flying and swimming animals to share the same narrow design space for high power efficiency, e.g., their dimensionless Strouhal numbers St that relate flapping frequency and amplitude and forward speed fall within the range of 0.2 < St < 0.4 for peak propulsive efficiency. It is rather challenging to achieve both comparably fast-speed and high-efficient soft swimmers to marine animals due to the naturally selected narrow design space and soft body compliance. Here, bioinspired by the flapping motion in swimming animals, we report leveraging snapping instabilities for soft flapping-wing swimmers with comparable high performance to biological counterparts. The lightweight, butterfly stroke-like soft swimmer (2.8 g) demonstrates a record-high speed of 3.74 body length/s (4.8 times faster than the reported fastest flapping soft swimmer), high power efficiency (0.2 < St = 0.25 < 0.4), low energy consumption cost, and high maneuverability (a high turning speed of 157°/s).
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13
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Luo Y, Xiao Q, Zhu Q, Pan G. Thrust and torque production of a squid-inspired swimmer with a bent nozzle for thrust vectoring. BIOINSPIRATION & BIOMIMETICS 2022; 17:066011. [PMID: 36044879 DOI: 10.1088/1748-3190/ac8e3f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/13/2022] [Accepted: 08/31/2022] [Indexed: 06/15/2023]
Abstract
A three-dimensional pulsed-jet propulsion model consisting of a flexible body and a steerable bent nozzle in tethered mode is presented and studied numerically. By prescribing the body deformation and nozzle angle, we examine the flow evolution and propulsive/turning performance via thrust vectoring. Our results show that the vortex ring is no longer axis-symmetric when the jet is ejected at an angle with the incoming flow. A torque peak is observed during jetting, which is mainly sourced from the suction force (negative pressure) at the lower part of the internal nozzle surface when the flow is directed downward through an acute angle. After this crest, the torque is dominated by the positive pressure at the upper part of the internal nozzle surface, especially at a relatively low jet-based Reynolds number (O(102)). The torque production increases with a larger nozzle bent angle as expected. Meanwhile, the thrust production remains almost unchanged, showing little trade-off between thrust and torque production which demonstrates the advantage of thrust vectoring via a bent nozzle. By decoupling the thrust at the internal and outer surfaces considering special characteristics of force generation by pulsed-jet propulsion, we find that variations in Reynolds number mostly affect the viscous friction at the outer surfaces. The influence of the maximum stroke ratio is also studied. Results show that both the time-averaged thrust and the torque decrease at a larger stroke ratio.
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Affiliation(s)
- Yang Luo
- School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, People's Republic of China
- Key Laboratory of Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi'an, 710072, People's Republic of China
- Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, Glasgow, G4 0LZ, United Kingdom
| | - Qing Xiao
- Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, Glasgow, G4 0LZ, United Kingdom
| | - Qiang Zhu
- Department of Structural Engineering, University of California San Diego, La Jolla, CA 92093-0085, United States of America
| | - Guang Pan
- School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, People's Republic of China
- Key Laboratory of Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi'an, 710072, People's Republic of China
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14
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Blasiak R, Jouffray JB, Amon DJ, Moberg F, Claudet J, Søgaard Jørgensen P, Pranindita A, Wabnitz CCC, Österblom H. A forgotten element of the blue economy: marine biomimetics and inspiration from the deep sea. PNAS NEXUS 2022; 1:pgac196. [PMID: 36714844 PMCID: PMC9802412 DOI: 10.1093/pnasnexus/pgac196] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 02/01/2023]
Abstract
The morphology, physiology, and behavior of marine organisms have been a valuable source of inspiration for solving conceptual and design problems. Here, we introduce this rich and rapidly expanding field of marine biomimetics, and identify it as a poorly articulated and often overlooked element of the ocean economy associated with substantial monetary benefits. We showcase innovations across seven broad categories of marine biomimetic design (adhesion, antifouling, armor, buoyancy, movement, sensory, stealth), and use this framing as context for a closer consideration of the increasingly frequent focus on deep-sea life as an inspiration for biomimetic design. We contend that marine biomimetics is not only a "forgotten" sector of the ocean economy, but has the potential to drive appreciation of nonmonetary values, conservation, and stewardship, making it well-aligned with notions of a sustainable blue economy. We note, however, that the highest ambitions for a blue economy are that it not only drives sustainability, but also greater equity and inclusivity, and conclude by articulating challenges and considerations for bringing marine biomimetics onto this trajectory.
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Affiliation(s)
- Robert Blasiak
- To whom correspondence should be addressed: Robert Blasiak, Stockholm Resilience Centre, Stockholm University, 106 91, Stockholm, Sweden.
| | | | - Diva J Amon
- SpeSeas, D'Abadie, Trinidad and Tobago,Marine Science Institute, University of California, Santa Barbara, CA 93106, USA
| | - Fredrik Moberg
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
| | - Joachim Claudet
- National Center for Scientific Research, PSL Université Paris, CRIOBE, CNRS-EPHE-UPVD, Maison de l'Océan, 195 rue Saint-Jacques, 75005 Paris, France
| | - Peter Søgaard Jørgensen
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden,The Global Economic Dynamics and the Biosphere Academy Program, Royal Swedish Academy of Science, 104 05 Stockholm, Sweden
| | - Agnes Pranindita
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
| | - Colette C C Wabnitz
- Stanford Center for Ocean Solutions, Stanford University, 473 Via Ortega, Stanford, CA 94305, USA,Institute for the Oceans and Fisheries, The University of British Columbia, 2202 Main Mall, Vancouver, BC V6T1Z4, Canada
| | - Henrik Österblom
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden,Graduate School of Agricultural and Life Sciences, The University of Tokyo, 1-1-1, Yayoi, Bunkyo-ku, Tokyo 113-8657, Japan,South American Institute for Resilience and Sustainability Studies, CP 20200 Maldonado, Uruguay
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15
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Zhu Q, Xiao Q. Physics and applications of squid-inspired jetting. BIOINSPIRATION & BIOMIMETICS 2022; 17:041001. [PMID: 35512671 DOI: 10.1088/1748-3190/ac6d37] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/05/2022] [Accepted: 05/05/2022] [Indexed: 06/14/2023]
Abstract
In the aquatic world jet propulsion is a highly successful locomotion method utilized by a variety of species. Among them cephalopods such as squids excel in their ability for high-speed swimming. This mechanism inspires the development of underwater locomotion techniques which are particularly useful in soft-bodied robots. In this overview we summarize existing studies on this topic, ranging from investigations on the underlying physics to the creation of mechanical systems utilizing this locomotion mode. Research directions that worth future investigation are also discussed.
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Affiliation(s)
- Qiang Zhu
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
| | - Qing Xiao
- Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, Glasgow, G4 0LZ, United Kingdom
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16
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Mohanty S, Paul A, Matos PM, Zhang J, Sikorski J, Misra S. CeFlowBot: A Biomimetic Flow-Driven Microrobot that Navigates under Magneto-Acoustic Fields. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2105829. [PMID: 34889051 DOI: 10.1002/smll.202105829] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/23/2021] [Revised: 11/19/2021] [Indexed: 06/13/2023]
Abstract
Aquatic organisms within the Cephalopoda family (e.g., octopuses, squids, cuttlefish) exist that draw the surrounding fluid inside their bodies and expel it in a single jet thrust to swim forward. Like cephalopods, several acoustically powered microsystems share a similar process of fluid expulsion which makes them useful as microfluidic pumps in lab-on-a-chip devices. Herein, an array of acoustically resonant bubbles are employed to mimic this pumping phenomenon inside an untethered microrobot called CeFlowBot. CeFlowBot contains an array of vibrating bubbles that pump fluid through its inner body thereby boosting its propulsion. CeFlowBots are later functionalized with magnetic layers and steered under combined influence of magnetic and acoustic fields. Moreover, acoustic power modulation of CeFlowBots is used to grasp nearby objects and release it in the surrounding workspace. The ability of CeFlowBots to navigate remote environments under magneto-acoustic fields and perform targeted manipulation makes such microrobots useful for clinical applications such as targeted drug delivery. Lastly, an ultrasound imaging system is employed to visualize the motion of CeFlowBots which provides means to deploy such microrobots in hard-to-reach environments inaccessible to optical cameras.
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Affiliation(s)
- Sumit Mohanty
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Aniruddha Paul
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
- School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, SE-100 44, Sweden
| | - Pedro M Matos
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Jiena Zhang
- Vascularization Lab, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Jakub Sikorski
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, NB, 7522, The Netherlands
- Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen and University Medical Center Groningen, Groningen, AV 9713, The Netherlands
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17
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Bittner B, Hatton RL, Revzen S. Data-driven geometric system identification for shape-underactuated dissipative systems. BIOINSPIRATION & BIOMIMETICS 2022; 17:026004. [PMID: 34798626 DOI: 10.1088/1748-3190/ac3b9c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/09/2021] [Accepted: 11/19/2021] [Indexed: 06/13/2023]
Abstract
Modeling system dynamics becomes challenging when the properties of individual system components cannot be directly measured, and often requires identification of properties from observed motion. In this paper, we show that systems whose movement is highly dissipative have features which provide an opportunity to more easily identify models and more quickly optimize motions than would be possible with general techniques. Geometric mechanics provides means for reduction of the dynamics by environmental homogeneity, while the dissipative nature minimizes the role of second order (inertial) features in the dynamics. Here we extend the tools of geometric system identification to 'shape-underactuated dissipative systems (SUDS)'-systems whose motions are more dissipative than inertial, but whose actuation is restricted to a subset of the body shape coordinates. Many animal motions are SUDS, including micro-swimmers such as nematodes and flagellated bacteria, and granular locomotors such as snakes and lizards. Many soft robots are also SUDS, particularly robots that incorporate highly damped series elastic actuators to reduce the rigidity of their interactions with their environments during locomotion and manipulation. We motivate the use of SUDS models, and validate their ability to predict motion of a variety of simulated viscous swimming platforms. For a large class of SUDS, we show how the shape velocity actuation inputs can be directly converted into torque inputs, suggesting that systems with soft pneumatic or dielectric elastomer actuators can be modeled with the tools presented. Based on fundamental assumptions in the physics, we show how our model complexity scales linearly with the number of passive shape coordinates. This scaling offers a large reduction on the number of trials needed to identify the system model from experimental data, and may reduce overfitting. The sample efficiency of our method suggests its use in modeling, control, and optimization in robotics, and as a tool for the study of organismal motion in friction dominated regimes.
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Affiliation(s)
- Brian Bittner
- Robotics Institute, University of Michigan, Ann Arbor, United States of America
- Johns Hopkins University Applied Physics Lab, Laurel, MD, United States of America
| | - Ross L Hatton
- Collaborative Robotics and Intelligent Systems (CoRIS) Institute & School of Mechanical, Industrial, and Manufacturing Engineering, Oregon State University, Corvallis, United States of America
| | - Shai Revzen
- Robotics Institute, University of Michigan, Ann Arbor, United States of America
- Electrical Engineering and Computer Science Department & Ecology and Evolutionary Biology Department, University of Michigan, Ann Arbor, United States of America
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18
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Bi X, Zhu Q. Free swimming of a squid-inspired axisymmetric system through jet propulsion. BIOINSPIRATION & BIOMIMETICS 2021; 16:066023. [PMID: 34654001 DOI: 10.1088/1748-3190/ac3061] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/30/2021] [Accepted: 10/15/2021] [Indexed: 06/13/2023]
Abstract
An axisymmetric fluid-structure interaction model based on the immersed-boundary approach is developed to study the self-propelled locomotion of a squid-inspired swimmer in relatively low Reynolds numbers (O(102)). Through cyclic deformation, the swimmer generates intermittent jet flow, which, together with the added-mass effect associated with the body deformation, provides thrust. Through a control volume analysis we are able to determine the jet-related thrust. By adding it to the added-mass-related thrust we separate the net thrust on the body from the drag effect due to forward motion, so that the propulsion efficiency in free swimming is found. This numerical algorithm and thrust-drag decomposition method are used to study the dynamics of the bio-inspired locomotion system in different conditions, whereby the performance is characterized by the aforementioned propulsion efficiency as well as the conventionally defined cost of transport.
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Affiliation(s)
- Xiaobo Bi
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
| | - Qiang Zhu
- Department of Structural Engineering, University of California, San Diego, La Jolla, CA 92093, United States of America
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19
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Yang Z, Chen D, Levine DJ, Sung C. Origami-Inspired Robot That Swims via Jet Propulsion. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3097757] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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20
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Xu NW. Squid-inspired robots perform swimmingly. Sci Robot 2021; 6:6/50/eabf4301. [PMID: 34043583 DOI: 10.1126/scirobotics.abf4301] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/16/2020] [Accepted: 12/18/2020] [Indexed: 12/17/2022]
Abstract
A squid-like robot leverages resonance to match the swimming efficiency of biological animals.
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Affiliation(s)
- Nicole W Xu
- Graduate Aerospace Laboratories (GALCIT), California Institute of Technology, Pasadena, CA, USA.
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