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Oliveira Santos S, Tack N, Su Y, Cuenca-Jiménez F, Morales-Lopez O, Gomez-Valdez PA, Wilhelmus MM. Pleobot: a modular robotic solution for metachronal swimming. Sci Rep 2023; 13:9574. [PMID: 37311777 DOI: 10.1038/s41598-023-36185-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/19/2023] [Accepted: 05/26/2023] [Indexed: 06/15/2023] Open
Abstract
Metachronal propulsion is widespread in aquatic swarming organisms to achieve performance and maneuverability at intermediate Reynolds numbers. Studying only live organisms limits our understanding of the mechanisms driving these abilities. Thus, we present the design, manufacture, and validation of the Pleobot-a unique krill-inspired robotic swimming appendage constituting the first platform to study metachronal propulsion comprehensively. We combine a multi-link 3D printed mechanism with active and passive actuation of the joints to generate natural kinematics. Using force and fluid flow measurements in parallel with biological data, we show the link between the flow around the appendage and thrust. Further, we provide the first account of a leading-edge suction effect contributing to lift during the power stroke. The repeatability and modularity of the Pleobot enable the independent manipulation of particular motions and traits to test hypotheses central to understanding the relationship between form and function. Lastly, we outline future directions for the Pleobot, including adapting morphological features. We foresee a broad appeal to a wide array of scientific disciplines, from fundamental studies in ecology, biology, and engineering, to developing new bio-inspired platforms for studying oceans across the solar system.
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Affiliation(s)
- Sara Oliveira Santos
- Center for Fluid Mechanics, School of Engineering, Brown University, Providence, 02912, USA
| | - Nils Tack
- Center for Fluid Mechanics, School of Engineering, Brown University, Providence, 02912, USA
| | - Yunxing Su
- Center for Fluid Mechanics, School of Engineering, Brown University, Providence, 02912, USA
| | - Francisco Cuenca-Jiménez
- Circuito Interior s/n, Engineering, Universidad Nacional Autónoma de México, 04510, Coyoacán, Mexico
| | - Oscar Morales-Lopez
- Circuito Interior s/n, Engineering, Universidad Nacional Autónoma de México, 04510, Coyoacán, Mexico
| | - P Antonio Gomez-Valdez
- Circuito Interior s/n, Engineering, Universidad Nacional Autónoma de México, 04510, Coyoacán, Mexico
| | - Monica M Wilhelmus
- Center for Fluid Mechanics, School of Engineering, Brown University, Providence, 02912, USA.
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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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