Bioinspiration & Biomimetics最新文献

Bioinspired Drone Rotors for Reduced Aeroacoustic Noise and Improved Efficiency. 生物启发的无人机转子减少航空声学噪音和提高效率。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-29 DOI: 10.1088/1748-3190/adde9b

Suryansh Prakhar, Jung-Hee Seo, Rajat Mittal

{"title":"Bioinspired Drone Rotors for Reduced Aeroacoustic Noise and Improved Efficiency.","authors":"Suryansh Prakhar, Jung-Hee Seo, Rajat Mittal","doi":"10.1088/1748-3190/adde9b","DOIUrl":"https://doi.org/10.1088/1748-3190/adde9b","url":null,"abstract":"The application of unmanned aerial vehicles (UAVs) is surging across several industries, paralleled by growing demand for these UAVs. However, the noise emitted by UAVs remains a significant impediment to their widespread use even though in areas such as product delivery, they can be more environmentally friendly than traditional delivery methods. Nature has often been a source of inspiration for devices that are efficient and eco-friendly. In the current study, we leverage the previous work by Seo et al. emph{(Bioinsp. Biomimetics, 16 (4):046019, 2021)} on the aeroacoustics of flapping wing flight in mosquitoes and fruit flies to propose and examine a simple strategy for reducing the aeroacoustic noise from drone rotors. In particular, inspired by these insects, we explore how an increase in the planform area of the rotor could be used to reduce the rotation rate and the associated aeroacoustic noise from small-scale rotors. The study employs a sharp-interface immersed boundary solver for the flow simulations and the aeroacoustic sound is predicted by the Ffowcs Williams-Hawkings equation. Simulations indicate that the simple strategy of employing rotors with larger planform areas could lead not just to reduced aeroacoustic noise but improved power economy as well.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144183160","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}

引用次数: 0

Characterizing the Role of Hind Flippers in Hydrodynamics of A Harbor Seal. 海豹后鳍在水动力学中的作用。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-28 DOI: 10.1088/1748-3190/adde07

Amirhossein Fardi, Hamayun Farooq, Imran Akhtar, Arman Hemmati, Muhammad Saif Ullah Khalid

{"title":"Characterizing the Role of Hind Flippers in Hydrodynamics of A Harbor Seal.","authors":"Amirhossein Fardi, Hamayun Farooq, Imran Akhtar, Arman Hemmati, Muhammad Saif Ullah Khalid","doi":"10.1088/1748-3190/adde07","DOIUrl":"https://doi.org/10.1088/1748-3190/adde07","url":null,"abstract":"In this paper, we investigate the hydrodynamic characteristics of harbor seal locomotion, focusing on the role of hind flippers in thrust generation and wake dynamics. Through three-dimensional numerical simulations using an immersed boundary method at Reynolds number of 3000, we analyze the impact of varying Strouhal number (St = 0.2-0.35) and propulsive wavelength (λ∗ = 1.0-1.2) on swimming performance. Our findings reveal two distinct wake patterns: a single-row structure at lower Strouhal numbers (St ≤ 0.25) and a double-row configuration at higher St (St ≥ 0.3). Increasing wavelength generally enhances thrust production by reducing both pressure and friction of drag components. Additionally, we identify critical vortex interactions between the front and hind flippers, with destructive interference occurring at lower St and constructive patterns emerging at higher St. Circulation analysis confirms stronger vortex formation at higher St and λ∗, particularly during the left stroke phase. These results provide novel insights into the hydrodynamic mechanisms underlying seal locomotion and contribute to our understanding of efficient aquatic propulsion systems.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144175897","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}

引用次数: 0

Self-organising bio-inspired reflex circuits for robust motor coordination in artificial musculoskeletal systems. 人工肌肉骨骼系统中强健运动协调的自组织仿生反射回路。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-28 DOI: 10.1088/1748-3190/adde08

Elijah Almanzor, Michael Ishida, Arsen Abdulali, Fumiya Iida

{"title":"Self-organising bio-inspired reflex circuits for robust motor coordination in artificial musculoskeletal systems.","authors":"Elijah Almanzor, Michael Ishida, Arsen Abdulali, Fumiya Iida","doi":"10.1088/1748-3190/adde08","DOIUrl":"https://doi.org/10.1088/1748-3190/adde08","url":null,"abstract":"Artificial musculoskeletal systems mimic mammalian biomechanics using antagonistic muscles and rigid skeletons. They offer benefits such as adjustable stiffness, back-drivability, and muscle failure tolerance but are difficult to model and control due to redundancies across task, joint, and muscle activation spaces, compounded by complex muscle dynamics and motion-dependent moment arms. Analytical methods require detailed system knowledge and lack scalability, while model-free approaches often rely on manual tuning and rarely exploit motor redundancy.This work introduces a model-free, biologically inspired kinematic controller based on reflex circuits that self-organise via Hebbian learning driven by Spontaneous Motor Activity (SMA). These circuits are then integrated to create a computationally inexpensive task-space controller, requiring minimal training and no analytical modelling. Simulations with six- and twelve-muscle models show that the interaction between reflex circuits, morphology, and gain modulation produces coordinated muscle synergies for human-like target reaching. Unlike previous control methods, it is easily scalable, can automatically handle unknown disturbances, and compensates for inaccessible muscles without re-training or manual intervention while maintaining high control accuracy.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144175839","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}

引用次数: 0

From human hand joints to continuum robot: how articular surface morphology shapes flexibility and stability in template-based designs. 从人手关节到连续机器人：关节表面形态如何在基于模板的设计中塑造灵活性和稳定性。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-27 DOI: 10.1088/1748-3190/add97b

Chendi Liang, Yu Wang, Yanzhen Liu, Sutuke Yibulayimu, Qingnan Sun, Chao Shi, Yunning Wang

{"title":"From human hand joints to continuum robot: how articular surface morphology shapes flexibility and stability in template-based designs.","authors":"Chendi Liang, Yu Wang, Yanzhen Liu, Sutuke Yibulayimu, Qingnan Sun, Chao Shi, Yunning Wang","doi":"10.1088/1748-3190/add97b","DOIUrl":"10.1088/1748-3190/add97b","url":null,"abstract":"The design of continuum robots often involves a dilemma between flexibility and stiffness, where increased flexibility may reduce stiffness and control precision. The human hand achieves both power grasp and precision grasp by leveraging different joint structures, particularly in the thumb, which plays a key role in balancing dexterity and stability. Inspired by the three distinct joints of the human thumb, we designed three types continuum manipulators featuring uniaxial, ball-and-socket, and saddle joints (SJ). A templated surface design was employed to control all other variables, ensuring that the only difference among the joint contact surfaces was their Gaussian curvature. The analysis covers aspects such as kinematic modeling, finite element simulations, workspace measurement, and stiffness experiments. Experimental results show that the workspace of the SJ manipulator is 0.73 times that of the ball-and-socket joint (BSJ) and 1.69 times that of the uniaxial joint (UJ). In terms of stability performance, the SJ achieves a maximum increase of 5.51 times in torsional stiffness and 2.68 times in bending stiffness compared to the BSJ. Compared to the UJ, the maximum improvements are 3.73 times in torsional stiffness and 2.44 times in bending stiffness. This suggests that the SJ continuum structure design can enhance stiffness while maintaining flexibility. This work provides a new approach for achieving a balanced flexibility and stability in continuum robot design.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144082232","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}

引用次数: 0

Dynamics and design of passive tails for enhanced stability of motion. 增强运动稳定性的被动尾的动力学和设计。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-22 DOI: 10.1088/1748-3190/addc24

Hang Shu, Yucong Hua, Weijian Jiao, Jordan R Raney

引用次数: 0

Investigating the effect of morphology on the terrestrial gaits of amphibious fish using a reconfigurable robot. 利用可重构机器人研究形态对两栖鱼类陆地步态的影响。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-22 DOI: 10.1088/1748-3190/addc27

Louis Gevers, Astha Gupta, Laura Paez, Qiyuan Fu, Emily Standen, Auke Jan Ijspeert

{"title":"Investigating the effect of morphology on the terrestrial gaits of amphibious fish using a reconfigurable robot.","authors":"Louis Gevers, Astha Gupta, Laura Paez, Qiyuan Fu, Emily Standen, Auke Jan Ijspeert","doi":"10.1088/1748-3190/addc27","DOIUrl":"https://doi.org/10.1088/1748-3190/addc27","url":null,"abstract":"The relationship between morphology and locomotion performance in amphibious fish remains poorly understood, particularly in axial-appendage-based and appendage-based movements. To address this, we introduce Polymander, a reconfigurable robot capable of mimicking Polypterus-like walking and mudskipper-like crutching, enabling systematic investigation of body length and limb movement. Using a CPG-driven controller, we optimize locomotion patterns via multi-objective optimization in simulation, comparing resulting Pareto fronts across different morphological configurations. Our results reveal that (1) mudskipper-like crutching is better suited for short bodies, while Polypterus-like walking is better suited for longer bodies; (2) symmetric anterior-to-posterior motion of the limbs is optimal for crutching, while increased anterior limb movement benefits Polypterus-like walking; and (3) sufficient limb strength is necessary for crutching but less so for walking, where axial bending mitigate its effects. Overall, our findings provide a potential explanation of why Polypterus and mudskippers adopt their distinct gaits, emerging as optimal solutions for their morphology within the broader space of all possible gaits.&#xD.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144129653","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}

引用次数: 0

Lateral dynamic crushing of skeletal muscle-inspired hierarchical celled structures. 骨骼肌激发的分层细胞结构的横向动态粉碎。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-22 DOI: 10.1088/1748-3190/addc25

Changyi Liu, Hing-Ho Tsang, Shanqing Xu, Dong Ruan

引用次数: 0

Encoding flexible gait strategies in stick insects through data-driven inverse reinforcement learning. 基于数据驱动逆强化学习的竹节虫柔性步态策略编码。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-22 DOI: 10.1088/1748-3190/addc26

Yuchen Wang, Mitsuhiro Hayashibe, Dai Owaki

{"title":"Encoding flexible gait strategies in stick insects through data-driven inverse reinforcement learning.","authors":"Yuchen Wang, Mitsuhiro Hayashibe, Dai Owaki","doi":"10.1088/1748-3190/addc26","DOIUrl":"https://doi.org/10.1088/1748-3190/addc26","url":null,"abstract":"Stick insects exhibit remarkable adaptive walking capabilities across diverse environments; however, the mechanisms underlying their gait transitions remain poorly understood. Although reinforcement learning (RL) has been employed to generate insect-like gaits, the design of an appropriate reward function presents a challenge due to the probabilistic and continuous nature of gait transitions. This study utilized maximum entropy inverse reinforcement learning (MaxEnt-IRL) to infer the reward function that governs stick insect gait selection, incorporating walking dynamic parameters-namely, velocity, direction, and acceleration-alongside antenna joint movements as state variables. By analyzing the inferred reward structures, we clarified the underlying principles that drive gait transitions and emphasized the role of sensory feedback in gait modulation. The efficacy of the inferred policies was validated through an assessment of their ability to reproduce expert trajectories, demonstrating that stick insect gaits can be learned from observable states during locomotion. Furthermore, interspecies variations and noncanonical gait patterns were examined, providing insights into the flexibility and adaptability of insect locomotion. This data-driven approach offers a biologically interpretable framework for gait modeling and contributes to bioinspired robotic design by facilitating adaptive control strategies for hexapod robots.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144129651","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}

引用次数: 0

Active underwater electrolocation method with PSO-based adaptive threshold estimation. 基于粒子群自适应阈值估计的主动水下电定位方法。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-13 DOI: 10.1088/1748-3190/adcf69

Lv Luting, Ma Teng, Quan Jingyi, Fan Jiajia, Li Ye

{"title":"Active underwater electrolocation method with PSO-based adaptive threshold estimation.","authors":"Lv Luting, Ma Teng, Quan Jingyi, Fan Jiajia, Li Ye","doi":"10.1088/1748-3190/adcf69","DOIUrl":"https://doi.org/10.1088/1748-3190/adcf69","url":null,"abstract":"Target detection and localization are essential capabilities for underwater vehicles to perceive and understand the underwater environment. In turbid, dark and semi-enclosed waters, such as underwater caves, acoustic and optical sensing devices face serious problems of reverberation and attenuation of the detection range, respectively. Weakly electric fish use their electric organ in the tail to produce repetitive discharges, while their electric receptors in the head and trunk detect electrical signals. This enables them to locate targets, avoid predators and facilitate hunting. In this paper, a bio-inspired active underwater electrolocation method is proposed, in which an adaptive contour-ring based target localization method is applied to provide both robust and accurate localization results for vehicles. In particular, on the basis of the efficient generation of prior contour-ring maps with high confidence and high precision, a particle swarm optimization theory-based adaptive threshold estimation algorithm was proposed to overcome the problem of non-uniqueness in the traditional contour ring-based method, while an electrode array pattern that integrates positioning accuracy and number of electrodes is proposed. Tank experiments have demonstrated the positioning accuracy of the proposed method.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":"20 3","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144013815","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}

引用次数: 0

Bioinspired adaptive visual servoing control for quadrotors. 四旋翼飞行器的仿生自适应视觉伺服控制。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-09 DOI: 10.1088/1748-3190/adcdde

Sander T Hazelaar, Chenyao Wang, Christophe de Wagter, Florian T Muijres, Guido C H E de Croon, Matthew Yedutenko

引用次数: 0