Bioinspiration & Biomimetics最新文献

{"title":"A tortoise-inspired quadrupedal pneumatic soft robot that adapts to environments through shape change.","authors":"Wei Zhong, Yuxin Wu, Luwei Li, Jiang Shao, Xiaoyu Gu","doi":"10.1088/1748-3190/adbc5d","DOIUrl":"10.1088/1748-3190/adbc5d","url":null,"abstract":"<p><p>Multi-terrain adaptation and landing capabilities pose substantial challenges for pneumatic bionic robots, particularly in crossing obstacles. This paper designs a turtle-inspired quadrupedal pneumatic soft crawling robot with four deformable bionic legs to mimic the structure and movement of turtle legs. Finite element software is used to design and optimize the wall thickness of the soft actuator. Experimental tests are conducted under different pressures to verify the bending capability of the upper leg (0-40 kPa) and lower leg (0-60 kPa). Four gait models of the robot are achieved by controlling the airflow in different chambers of four soft actuators. Then the corresponding test scenarios are established to confirm gait control effectiveness. The soft actuator is designed with adjusted gait overlap ratios (0, 0.25, 0.5, 0.75, 1), enabling the soft robot to overcome obstacles up to 25 mm in height, showcasing superior obstacle-crossing capabilities. In addition to moving straight (maximum speed: 0.41 BL s^-1) and turning on rigid surfaces (45° s^-1), the robot is capable of crawling on various complex terrains (cloth, sand, flat ground, and slope) as well as water planning. These characteristics make the robot suitable for a wide range of applications, such as search and rescue, exploration, and inspection. The robot's ability to traverse complex environments and its robust performance in various conditions highlight its potential for real-world deployment.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143544595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Underwater biomimetic sonar target detection model based on Hipposideros Pratti.","authors":"Chunyang Pang, Feng Wang, Yuxin Liu","doi":"10.1088/1748-3190/adbb99","DOIUrl":"10.1088/1748-3190/adbb99","url":null,"abstract":"<p><p>Traditional underwater sonar detection systems are primarily based on numerical methods such as pulse compression, Doppler velocity measurement, and beamforming to measure target distance, velocity, and azimuth parameters. In contrast, the sonar systems of organisms like bats rely on highly evolved neural perception to accomplish these tasks. By studying the detection mechanisms of biological sonar and developing bionic models, the target detection capabilities of underwater sonar systems can be enhanced. Inspired by Hipposideros Pratti, this paper designs a bat bio-sonar model for underwater target detection in near-port areas and provides theoretical derivations for various target parameters detection. A biomimetic sonar multi-harmonic signal waveform is designed based on multi-carrier modulation theory. Through the combination of different subcarrier components, the signal's penetration power is optimized, environmental noise interference is reduced, and target resolution and recognition accuracy are enhanced. The proposed waveform's excellent anti-reverberation performance is demonstrated through evaluations in underwater reverberation scenarios. For signal processing, this paper designs a parallel hierarchical processing architecture that can simultaneously handle different harmonic components sensing speed, distance, and azimuth information. To enhance the intelligence of bionic sonar systems, a parallel intelligent perception network model based on dilated convolution is proposed. It leverages feature maps of different harmonic groups to reduce the number of features required for extraction, improving the model's training efficiency and achieving intelligent perception of the sonar system. Simulation results indicate that the combination of different harmonic components can effectively perceive variations in target speed, distance, and direction, exhibiting strong anti-reverberation capability. Neural network recognition results show that the combination of different harmonics achieves an accuracy rate of over 95% for speed, distance, and azimuth recognition, verifying that the designed model has strong capabilities in underwater target perception.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143532172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Ethics of biohybrid robotics and invertebrate research: Biohybrid robotic jellyfish as a case study.","authors":"Nicole W Xu, Olga Lenczewska, Sarah E Wieten, Carole A Federico, John O Dabiri","doi":"10.1088/1748-3190/adc0d4","DOIUrl":"https://doi.org/10.1088/1748-3190/adc0d4","url":null,"abstract":"<p><p>Invertebrate research ethics has largely been ignored compared to the consideration of higher order animals, but more recent focus has questioned this trend. Using the robotic control of Aurelia aurita as a case study, we examine ethical considerations in invertebrate work and provide recommendations for future guidelines. We also analyze these issues for prior bioethics cases, such as cyborg insects and the 'microslavery' of microbes. However, biohybrid robotic jellyfish pose further ethical questions regarding potential ecological consequences as ocean monitoring tools, including the impact of electronic waste in the ocean. After in-depth evaluations, we recommend that publishers require brief ethical statements for invertebrate research, and we delineate the need for invertebrate nociception studies to revise or validate current standards. These actions provide a stronger basis for the ethical study of invertebrates, with implications for individual, species-wide, and ecological impacts, as well as for studies in science, engineering, and philosophy.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143630924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Empowering human-like walking with a bio-inspired gait controller for an under-actuated torque-driven human model.","authors":"Samane Amini, Iman Kardan, Ajay Seth, Alireza Akbarzadeh","doi":"10.1088/1748-3190/adb2ca","DOIUrl":"10.1088/1748-3190/adb2ca","url":null,"abstract":"<p><p>Human gait simulation plays a crucial role in providing insights into various aspects of locomotion, such as diagnosing injuries and impairments, assessing abnormal gait patterns, and developing assistive and rehabilitation technologies. To achieve more realistic gait simulation results, it is essential to use a comprehensive model that accurately replicates the kinematics and kinetics of human movement. Human skeletal models in OpenSim software provide anatomically accurate and anthropomorphic structures, enabling users to create personalized models that accurately replicate individual human behavior. However, these torque-driven models encounter challenges in stabilizing unactuated degree of freedom of pelvis tilt in forward dynamic simulations Adopting a bio-inspired strategy that ensures human balance with a minimized energy expenditure during walking, this paper addresses a gait controller for a torque-driven human skeletal model to achieve stable walking. The proposed controller employs a nonlinear model-based approach to calculate a balance-equivalent control torque and utilizes the hip-ankle strategy to distribute this torque across the lower-limb joints during the stance phase. To optimize the parameters of the trajectory tracking controller and the balance distribution coefficients, we developed a forward dynamic simulation interface established between MATLAB and OpenSim. The simulation results indicated that the torque-driven model achieves a natural gait, with joint torques closely aligning with the experimental data. The robustness of the bio-inspired gait controller was further evaluated by applying a range of external forces on the skeletal model. The robustness analysis demonstrated efficient balance recovery mechanism of the proposed bio-inspired gait controller in response to external disturbances.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143257422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Stable heteroclinic channels as a decision-making model: overcoming low signal-to-noise ratio with mutual inhibition.","authors":"Natasha Rouse, Andrew Horchler, Hillel J Chiel, Kathryn A Daltorio","doi":"10.1088/1748-3190/adc057","DOIUrl":"https://doi.org/10.1088/1748-3190/adc057","url":null,"abstract":"<p><p>Bio-inspired robot controllers are becoming more complex as we strive to make them more robust to, and flexible in, noisy, real-world environments. A stable heteroclinic network (SHN) is a dynamical system that produces cyclical state transitions using noisy input. SHN-based robot controllers enable sensory input to be integrated at the phase-space level of the controller, thus simplifying sensor-integrated, robot control methods. In this work, we investigate the mechanism that drives branching state trajectories in SHNs. We liken the branching state trajectories to decision-splits imposed into the system, which opens the door for more sophisticated controls -- all driven by sensory input. This work provides guidelines to systematically define an SHN topology, and increase the rate at which desired decision states in the topology are chosen. Ultimately, we are able to control the rate at which desired decision states activate for input signal-to-noise ratios across six orders of magnitude.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143627002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Flapping dynamics and wing flexibility enhance odor detection in blue bottle flies.","authors":"Naeem Haider, Zhipeng Lou, Shih-Jung Hsu, Bo Cheng, Chengyu Li","doi":"10.1088/1748-3190/adb822","DOIUrl":"10.1088/1748-3190/adb822","url":null,"abstract":"<p><p>One of the most ancient and evolutionarily conserved behaviors in the animal kingdom involves utilizing wind-borne odor plumes to track essential elements such as food, mates, and predators. Insects, particularly flies, demonstrate a remarkable proficiency in this behavior, efficiently processing complex odor information encompassing concentrations, direction, and speed through their olfactory system, thereby facilitating effective odor-guided navigation. Recent years have witnessed substantial research explaining the impact of wing flexibility and kinematics on the aerodynamics and flow field physics governing the flight of insects. However, the relationship between the flow field and olfactory functions remains largely unexplored, presenting an attractive frontier with numerous intriguing questions. One such question pertains to whether flies intentionally manipulate the flow field around their antennae using their wing structure and kinematics to augment their olfactory capabilities. To address this question, we first reconstructed the wing kinematics based on high-speed video recordings of wing surface deformation. Subsequently, we simulated the unsteady flow field and odorant transport during the forward flight of blue bottle flies (<i>Calliphora vomitoria</i>) by solving the Navier-Stokes equations and odorant advection-diffusion equations using an in-house computational fluid dynamics solver. Our simulation results demonstrated that flexible wings generated greater cycle-averaged aerodynamic forces compared to purely rigid flapping wings, underscoring the aerodynamic advantages of wing flexibility. Additionally, flexible wings produced 25% greater odor intensity, enhancing the insect's ability to detect and interpret olfactory cues. This study not only advances our understanding of the intricate interplay between wing motion, aerodynamics, and olfactory capabilities in flying insects but also raises intriguing questions about the intentional modulation of flow fields for sensory purposes in other behaviors.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143460678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Wireless motion control of a swimming eel-machine hybrid robot.","authors":"Luo Yu, Jinjiang Lai, Jun Huang, Hongying Liu, Xitian Pi","doi":"10.1088/1748-3190/adbeac","DOIUrl":"https://doi.org/10.1088/1748-3190/adbeac","url":null,"abstract":"<p><p>This study presents a flexible aquatic swimming robot, which is a promising candidate for underwater search and detection missions. The robot is a living eel fitted with a wireless electronic backpack stimulator attached to its dorsal region. Leveraging the eel's inherent self-balancing and self-adaptation abilities, the robot can adapt seamlessly to complex underwater environments without the need for sophisticated controllers. Lateral line stimulation allows the robot to execute forward and backward swimming, as well as left and right curls. We graded the forward and backward swimming speed by varying the stimulus frequency and pulse width. The optimal stimulus parameters are as follows: amplitude 3.0-4.5 V, frequency 5-20 Hz, and pulse width 40-60 ms. The maximum success rates for forward and backward swimming responses to stimuli were approximately 96% and 77%, respectively. Utilizing lower pulse frequencies (5-20 Hz) and wider pulse widths (40-60 ms) facilitated sustained and efficient activation of the lateral line neural system. Electrical stimulation of the lateral line increases the eel's forward swimming speed by approximately 70%, while the electronic backpack draws only 48.1 mW of external power. Compared to bio-inspired robots, the eel-machine hybrid robot consumes 1.5 to 1100 times less external power per unit mass. The remarkable efficiency of this bio-robot enhances its performance in tasks such as underwater cave exploration.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143598600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Soft robotic brittle star shows the influence of mass distribution on underwater walking.","authors":"Zach Patterson, Henry C Astley, Carmel Majidi","doi":"10.1088/1748-3190/adbecb","DOIUrl":"https://doi.org/10.1088/1748-3190/adbecb","url":null,"abstract":"<p><p>Most walking organisms tend to have relatively light limbs and heavy bodies in order to facilitate rapid limb motion. However, the limbs of brittle stars (Class Ophiuroidea) are primarily comprised of dense skeletal elements, with potentially much higher mass and density compared to the body disk. To date, little is understood about how the relatively unique distribution of mass in these animals influences their locomotion. In this work, we use a brittle star inspired soft robot and computational modeling to examine how the distribution of mass and density in brittle stars affects their movement. The soft robot is fully untethered, powered using embedded shape memory alloy (SMA) actuators, and designed based on the morphology of a natural brittle star. Computational simulations of the brittle star model are performed in a differentiable robotics physics engine in conjunction with an iterative linear quadratic regulator (iLQR) to explore the relationship between different mass distributions and their optimal gaits. The results from both methods indicate that there are robust physical advantages to having the majority of the mass concentrated in the limbs for brittle star-like locomotion, providing insight into the physical forces at play.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143598599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Thermophoretic effect in natural photonics: holographic study.","authors":"Marina Simovic Pavlovic, Dusan Grujic, Maja Pagnacco, Bojana Bokic, Darko Vasiljevic, Thierry Verbiest, Branko Kolaric","doi":"10.1088/1748-3190/adb6e8","DOIUrl":"10.1088/1748-3190/adb6e8","url":null,"abstract":"<p><p>Natural photonic structures allow us to reveal and mold the thermophoretic effect at the nanoscale within condensed matter systems. In this paper, for the first time, holography has been exploited to disclose conditions that determine the strength and dynamics of the thermophoretic effect. We experimentally revealed the link between geometry and nano-corrugation of biological structures that shapes the power of thermophoresis. The presented study opens enormous possibilities for harnessing the thermophoretic effect in various bioinspired sensing applications, uniquely merging the fields of photonics and mechanics.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143441980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey.","authors":"Oliver Hausdörfer, Astha Gupta, Auke J Ijspeert, Daniel Renjewski","doi":"10.1088/1748-3190/adb8b1","DOIUrl":"10.1088/1748-3190/adb8b1","url":null,"abstract":"<p><p>Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion control, we specifically focus on the role of stretch sensory feedback. We investigate how stretch feedback potentially serves as a way to coordinate locomotion, and how different stretch feedback topologies, such as networks spanning varying ranges along the spinal cord, impact the locomotion. We conduct our studies on a simulated robot model of the lamprey consisting of an articulated spine with eleven segments connected by actuated joints. The stretch feedback is modeled with neural networks trained with deep reinforcement learning. We find that the topology of the feedback influences the energy efficiency and smoothness of the swimming, along with various other metrics characterizing the locomotion, such as frequency, amplitude and stride length. By analyzing the learned feedback networks, we highlight the importances of very local, caudally-directed, as well as stretch derivative information. Our results deliver valuable insights into the potential mechanisms and benefits of stretch feedback control and inspire novel decentralized control strategies for complex robots.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143470038","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}