Bioinspiration & Biomimetics最新文献_第2页

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 : 2025-06-03 DOI: 10.1088/1748-3190/addc25

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

{"title":"Lateral dynamic crushing of skeletal muscle-inspired hierarchical celled structures.","authors":"Changyi Liu, Hing-Ho Tsang, Shanqing Xu, Dong Ruan","doi":"10.1088/1748-3190/addc25","DOIUrl":"10.1088/1748-3190/addc25","url":null,"abstract":"In this paper, a bionic structure made of skeletal muscle-inspired hierarchical (MH) unit cells is proposed. The mechanical properties and energy absorption (EA) characteristics of MH-celled structures with different geometric dimensions under various impact speeds were explored and compared with conventional circular-celled structures using finite element (FE) models in ABAQUS/Explicit. Quasi-static and dynamic tests were conducted to validate the FE modelling approach. Numerical investigations reveal that the hierarchical configuration significantly enhances EA compared to conventional designs. This improvement is attributed to the deformation behaviour of transverse localised bands, which form perpendicular to the crushing direction at the junctions between layers in the MH-celled structure. These bands effectively distribute stress, enhance plastic deformation, and promote frictional energy dissipation. Compared to the conventional structure, the MH-celled structure exhibited increases of 54.3% in SEA and 65.4% in plateau stress under low-speed impact (0.5 m s-1). Under medium-velocity impact, these increases reached 55.4% and 57.5%, respectively. Moreover, it was found that the deformation mode of MH-celled structures is governed by the relative density of the structure and the impact velocity, which can be categorised into quasi-static mode, transition mode and dynamic mode. Parametric studies revealed that both the specific EA and plateau stress of MH-celled structures are enhanced with the increase in the relative density or the impact velocity. The results also demonstrate an exponential relationship between plateau stress, impact velocity, and relative density.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144129655","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

Control of turbulent boundary layer separation by a 3D printed shark skin model with passive bristling. 三维打印被动刷毛鲨鱼皮模型控制湍流边界层分离。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-06-03 DOI: 10.1088/1748-3190/add0fc

A Bonacci, K Wong, A Lang, L M Santos

{"title":"Control of turbulent boundary layer separation by a 3D printed shark skin model with passive bristling.","authors":"A Bonacci, K Wong, A Lang, L M Santos","doi":"10.1088/1748-3190/add0fc","DOIUrl":"10.1088/1748-3190/add0fc","url":null,"abstract":"Turbulent boundary layer separation can be problematic in many engineering applications. However, nature may have a solution in the form of flexible shark scales found on the shortfin mako, which have been proven to passively bristle under reversing flow conditions and control flow separation. An investigation of how these shark scales interact with reversing flow in the near-wall regions of the boundary layer is of interest to better understand the fluid-shark scale interactions. Enlarging the geometry and constructing 3D printed models of shark skin is the best route forward to developing a bioinspired surface for aircraft applications. Using a rotating cylinder above a flat plate in a water tunnel setup, an adverse pressure gradient was induced, creating a separated region over a tripped turbulent boundary layer. Movable and rigid 3D printed shark scales that replicate passive bristling angles of 50∘are constructed with crown lengths of 3.6 mm, twenty times greater than those of a real shark. In this experiment, the boundary layer grows to sizes large enough that the scale of the flow increases, making it more measurable to digital particle image velocimetry and allowing models to be sized so that they fit within the bottom 10% of the boundary layer. At low reversing flow velocities, the movable scales were seen to passively flap and mix momentum in the lower boundary layer.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144054657","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

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 : 2025-06-02 DOI: 10.1088/1748-3190/addc27

Louis Gevers, Astha Gupta, Laura Paez, Qiyuan Fu, Emily Standen, Auke 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 Ijspeert","doi":"10.1088/1748-3190/addc27","DOIUrl":"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 mimickingPolypterus-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, whilePolypterus-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 benefitsPolypterus-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 whyPolypterusand mudskippers adopt their distinct gaits, emerging as optimal solutions for their morphology within the broader space of all possible gaits.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-06-02","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

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

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

Bio-inspired multimodal soft grippers: a review. 仿生多模态软夹持器：综述。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-09 DOI: 10.1088/1748-3190/add1a6

Minshi Liang, Jiaqi Zhu, Xingxing Ke, Zhiping Chai, Han Ding, Zhigang Wu

{"title":"Bio-inspired multimodal soft grippers: a review.","authors":"Minshi Liang, Jiaqi Zhu, Xingxing Ke, Zhiping Chai, Han Ding, Zhigang Wu","doi":"10.1088/1748-3190/add1a6","DOIUrl":"10.1088/1748-3190/add1a6","url":null,"abstract":"In nature, organisms have evolved diverse grasping mechanisms to perform vital functions such as hunting and self-defence. These time-tested biological structures, including the arms of octopuses and the trunks of elephants, offer valuable inspiration for designing multimodal soft grippers that can tackle diverse tasks in various environments. Similar to their biological counterparts, these grippers must adapt to dynamic working conditions to enhance their performance. This adaptation process involves multiple factors, including grasping mechanisms, structural design, materials, and application scenarios, with biomimetic strategies offering numerous innovative examples. Despite the significant potential of bio-inspired designs, it lacks comprehensive reviews that explore how these strategies can enhance the development of multimodal soft grippers. This review seeks to address this gap by providing a systematic review of how bioinspired approaches contribute to the advancement of multimodal grippers. It focuses on coupling strategies, integration methods, performance improvements, and application scenarios. Finally, the review explores how future biomimetic insights could address current challenges and further improve the functionality of multimodal grippers.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":"20 3","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144058175","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

Amphibious robotic dog: design, paddling gait planning, and experimental characterization. 水陆两栖机器狗：设计、划水步态规划及实验表征。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-08 DOI: 10.1088/1748-3190/adcd1b

Jingting Qu, Qingqian Cai, Frank E Fish, Yunquan Li, Ye Chen, Yong Zhong, Jiutian Xia, Shiling Fu, Wenhao Xie, Haohua Luo, Sengyuan Lin, Yonghua Chen

{"title":"Amphibious robotic dog: design, paddling gait planning, and experimental characterization.","authors":"Jingting Qu, Qingqian Cai, Frank E Fish, Yunquan Li, Ye Chen, Yong Zhong, Jiutian Xia, Shiling Fu, Wenhao Xie, Haohua Luo, Sengyuan Lin, Yonghua Chen","doi":"10.1088/1748-3190/adcd1b","DOIUrl":"https://doi.org/10.1088/1748-3190/adcd1b","url":null,"abstract":"Mammal-inspired quadruped robots excel in traversing diverse terrestrial terrains but often lack aquatic mobility, limiting their effectiveness in amphibious environments. To address this challenge, an amphibious robotic dog (ARD) was developed, integrating efficient paddling gait in water with trotting capabilities on land. A canine-inspired paddling trajectory was first developed for a two-segment leg, and validated through theoretical modeling and experimental measurements of hydrodynamic forces. A waterproof ARD was then fabricated, with careful consideration of center-of-gravity and center-of-buoyancy relationships to ensure stable aquatic movement. Three distinct paddling gaits were developed and tested to evaluate the ARD's swimming speed and stability: two lateral sequence paddling gaits (LSPG) featuring 25% and 33% power phases (PP), and one trot-like paddling gait (TLPG) featuring a 50% PP. Theoretical modeling and numerical calculations were conducted to analyze the stability of different paddling gaits. Static water experiments measured gait-specific hydrodynamic forces, followed by dynamic swimming tests demonstrating that LSPG delivers superior propulsion and speed, while TLPG offers enhanced stability. The ARD achieved a maximum water speed of 0.16 m s-1(0.54 BL s-1) and a land speed of 0.35 m s-1(1.2 BL s-1). These findings provide theoretical and practical guidance for the development of mammal-inspired amphibious quadruped robots, particularly in structural design and paddling gait planning.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":"20 3","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144059232","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

Biomimetic seal whisker sensors for high-sensitivity wake detection and localization. 用于高灵敏度尾迹检测和定位的仿生海豹须传感器。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-05-07 DOI: 10.1088/1748-3190/adcddf

Biao Geng, Qian Xue, Zhiheng Xu, Winston Jiang, Jonathan Sullo, Cadence Brunecz, Jessica Shang, Xudong Zheng

{"title":"Biomimetic seal whisker sensors for high-sensitivity wake detection and localization.","authors":"Biao Geng, Qian Xue, Zhiheng Xu, Winston Jiang, Jonathan Sullo, Cadence Brunecz, Jessica Shang, Xudong Zheng","doi":"10.1088/1748-3190/adcddf","DOIUrl":"10.1088/1748-3190/adcddf","url":null,"abstract":"Pinnipeds, with highly sensitive whiskers, can detect instantaneous spatial hydrodynamic disturbances, crucial for tracking wakes and their sources. However, no existing engineering solution replicates this for intelligent passive flow perception. To bridge this gap, we propose a low-cost, whisker-inspired sensor designed for use in arrays for underwater sensing and tracking. The sensor integrates metal foil strain gages within a polydimethylsiloxane soft base, coupled with a 3D-printed biomimetic seal whisker model. It exhibits low self-noise in undisturbed flow and high sensitivity in wake detection, identifying flow speeds as low as 0.5 mm s-1-comparable to biological whiskers (∼0.25 mm s-1). The dual strain gage design, placed on adjacent perpendicular sides, allows precise measurement of whisker bending amplitude and direction. The sensor shows excellent linearity, repeatability, fatigue life, short response time and superior dynamic performance in the low-frequency range (⩽35 Hz). Despite its high performance, it is cost-effective and easy to fabricate, requiring no specialized facilities or extensive training, making it ideal for large-scale array deployment. To demonstrate its potential, we tested a nine-sensor array capable of predicting dipole source locations using an artificial neural network model. This work demonstrates the feasibility of whisker-inspired sensing for robust spatial flow perception in underwater environments.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":"20 3","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144043320","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

Mimic biological flapping motion for a two-dimensional wing by reinforcement learning. 通过强化学习模拟二维翅膀的生物拍打运动。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-04-25 DOI: 10.1088/1748-3190/adcde0

Ran Bi, Changdong Zheng, Hongyu Zheng, Tingwei Ji, Fangfang Xie, Yao Zheng

{"title":"Mimic biological flapping motion for a two-dimensional wing by reinforcement learning.","authors":"Ran Bi, Changdong Zheng, Hongyu Zheng, Tingwei Ji, Fangfang Xie, Yao Zheng","doi":"10.1088/1748-3190/adcde0","DOIUrl":"https://doi.org/10.1088/1748-3190/adcde0","url":null,"abstract":"Birds, insects, bats and fish demonstrate exceptional locomotion efficiency through adaptive flapping motions, offering a wealth of inspiration for bio-inspired propulsion systems. However, traditional research often relies on simplified motion models with limited degrees of freedom, which may not fully capture the complexity, adaptability, and efficiency of natural movement. In this study, we propose an adaptive motion optimization framework based on reinforcement learning (RL), aiming to address the aforementioned challenges. By integrating high-fidelity numerical simulations with physical models of flapping wings, the framework dynamically adjusts motion patterns in real time, guided by flow field information. Departing from conventional methods that rely on pre-designed motion assumptions, this approach uncovers non-harmonic, quasi-periodic motion patterns through iterative exploration. The system refines behaviors to enhance propulsion performance, adapt to dynamic flow conditions, and reveal biologically relevant features, such as asymmetric oscillations, adaptive rhythmic formations, and progressive fine-tuning of motion strategies. These learned motions not only align with natural flapping characteristics but also surpass traditional optimization methods by expanding the search space to include more complex and effective movement patterns. This framework demonstrates the power of RL to discover sophisticated, bio-inspired motion dynamics, offering transformative potential for understanding natural flapping mechanisms and designing efficient, versatile propulsion systems for real-world applications.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":"20 3","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144041289","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