Bioinspiration & Biomimetics最新文献

{"title":"Experimental investigation of circumnutation-inspired penetration in sand.","authors":"Riya Anilkumar, Alejandro Martinez","doi":"10.1088/1748-3190/ad8c89","DOIUrl":"https://doi.org/10.1088/1748-3190/ad8c89","url":null,"abstract":"<p><p>Probes that penetrate soil are used in fields such as geotechnical engineering, agriculture, and ecology to classify soils and characterize their properties<i>in situ</i>. Conventional tools such as the Cone Penetration Test (CPT) often face challenges due to the lack of reaction force needed to penetrate stiff or dense soil layers, necessitating the use of large drill rigs. This paper investigates more efficient means of penetrating soil by taking inspiration from a plant-root motion known as circumnutation. Experimental penetration tests on sands are performed with circumnutation-inspired (CI) probes that advance at a constant vertical velocity (v) while simultaneously rotating at a constant angular velocity (ω). These probes have bent tips with a given bent angle (α) and bent length (L1). The variation of the mobilized vertical force (Fz), torque (Tz.), and the mechanical work components with the ratio of tangential to vertical velocity (<i>ωR</i>/<i>ν</i>, where<i>R</i>is the distance of the tip of the probe from the vertical axis of rotation) is investigated along with the effects of probe geometry, vertical velocity, and soil relative density (DR). The results show that the soil penetration resistance does not vary withv, but it increases asα,L1, andDRare increased.Fzdecays exponentially with increasingωR/v,Tzinitially increases and then plateaus, while total work (WT) shows little magnitude changes initially but later increases monotonically. The mechanisms leading to these trends are identified as the changes in the probe projected areas and mobilized normal stresses due to differences in probe geometry and the effects ofωR/von the resultant force direction and soil disturbance. The results show that CI penetration within a specific range ofωR/vleads to small increases inWT(i.e.,⩽25%), yet mobilizesFzmagnitudes that are 50%-80% lower than that mobilized during non-rotational penetration (i.e., CPT). This indicates that CI penetration can be adopted for<i>in situ</i>characterization or sensor placement with smaller vertical forces, allowing for use of lighter rigs.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":"20 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142632921","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":"Dynamic modelling and predictive position/force control of a plant-inspired growing robot.","authors":"Abdonoor Kalibala, Ayman A Nada, Hiroyuki Ishii, Haitham El-Hussieny","doi":"10.1088/1748-3190/ad8e25","DOIUrl":"10.1088/1748-3190/ad8e25","url":null,"abstract":"<p><p>This paper presents the development and control of a dynamic model for a plant-inspired growing robot, termed the 'vine-robot', using the Euler-Lagrangian method. The unique growth mechanism of the vine-robot enables it to navigate complex environments by extending its body. We derive the dynamic equations of motion and employ model predictive control to regulate the task space position, orientation, and interaction forces. Simulation experiments are conducted to evaluate the performance of the proposed model and control strategy. The results demonstrate that the model effectively achieves sub-millimeter precision in the position control in both static and time varying refrence trajectroies, and sub micronewton in force control.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142565345","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":"Reproducing the caress gesture with an anthropomorphic robot: a feasibility study.","authors":"Martina Lapresa, Clemente Lauretti, Francesca Cordella, Andrea Reggimenti, Loredana Zollo","doi":"10.1088/1748-3190/ad912c","DOIUrl":"https://doi.org/10.1088/1748-3190/ad912c","url":null,"abstract":"<p><p>Social robots have been widely used to deliver emotional, cognitive and social support to humans. The exchange of affective gestures, instead, has been explored to a lesser extent, despite phyisical interaction with social robots could provide the same benefits as human-human interaction. Some studies that explored the touch and hugs gestures were found in literature, but there are no studies that investigate the possibility of delivering realistic caress gestures, which are, in turn, the easiest affective gestures that could be delivered with a robot. The first objective of this work was to study the kinematic and dynamic features of the caress gesture by conducting experimental acquisitions in which ten healthy volunteers were asked to caress the cheek of a mannequin in two conditions, i.e., standing and sitting. Average motion and force features were then analyzed and used to generate a realistic caress gesture with an anthropomorphic robot, with the aim of assessing the feasibility of reproducing the caress gesture with a robotic device. In addition, twenty-six healthy volunteers evaluated the anthropomorphism and perceived safety of the reproduced affective gesture by answering the Godspeed Questionnaire Series and a list of statements on the robot motion. The gesture reproduced by the robot was similar to the caress gesture performed by healthy volunteers both in terms of hand trajectory and orientation, and exchanged forces. Overall, volunteers perceived the robot motion as safe and positive emotions vere elicited. The proposed approach could be adapted to humanoid robots to improve the perceived anthropomorphism and safety of the caress gesture.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142632900","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":"Bioinspired cooperation in a heterogeneous robot swarm using ferrofluid artificial pheromones for uncontrolled environments.","authors":"Juan Carlos Brenes-Torres, Cindy Calderón-Arce, Francisco Blanes, José Simo","doi":"10.1088/1748-3190/ad8d28","DOIUrl":"10.1088/1748-3190/ad8d28","url":null,"abstract":"<p><p>This article presents a novel bioinspired technology for the cooperation and coordination of heterogeneous robot swarms in uncontrolled environments, utilizing an artificial pheromone composed of magnetized ferrofluids. Communication between different types of robots is achieved indirectly through stigmergy, where messages are inherently associated with specific locations. This approach is advantageous for swarm experimentation outside controlled laboratory spaces, where localization is typically managed through centralized camera systems (e.g. infrared, RGB). Applying pheromone principles has also proven beneficial for various swarm behaviors. We introduce a detection methodology for the artificial ferrofluid pheromone using low-cost magnetic sensors, along with signal processing and parameter characterization. Experiments involved a heterogeneous swarm consisting of two types of robots: one equipped with camera and image processing capabilities and the other with basic sensor technologies. Validation in multiple uncontrolled environments (with varying floor surfaces, wind, and light conditions) demonstrated successful cooperation among robots with differing technological complexities using the proposed technology.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142549082","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":"Fabrication and electroadhesion properties of parylene-coated carbon fiber arrays.","authors":"Lan Ai, Tingting Liu, Mingmin Zai, Lizhen Hou, Shiliang Wang","doi":"10.1088/1748-3190/ad8c88","DOIUrl":"https://doi.org/10.1088/1748-3190/ad8c88","url":null,"abstract":"<p><p>Parylene-coated carbon fiber (CF) arrays with tunable inclination angles and heights were fabricated using oxygen plasma etching of composite wafers with embedded parallel CFs, followed by parylene coating via chemical vapor deposition. The effective elastic modulus of the CF arrays was found to decrease approximately in proportion to the square of the fiber length (5-60<i>μ</i>m), with the parylene coating (∼2<i>μ</i>m) further slightly reducing the modulus. Both experimental measurements and finite element simulations indicated that CF arrays with inclination angles below 75° exhibit ideal contact with glass wafers during electrostatic adhesion. However, the measured electrostatic adhesion between CF arrays and A4 paper was significantly lower than the predicted value for ideal contact, likely due to the porous nature of the paper. Electrostatic chuck prototypes based on the parylene-coated CF arrays demonstrated effective pick-and-place capabilities for A4 paper, plastic films, and glass wafers at voltages ranging from 500 to 900 V, without causing surface damage or leaving residue. These results highlight the potential of the parylene-coated CF arrays for applications in high-precision manufacturing and automated handling systems.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":"20 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142607534","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":"Enhancing postural stability in musculoskeletal quadrupedal locomotion through tension feedback for CPG-based controller.","authors":"Hiroaki Tanaka, Ojiro Matsumoto, Takumi Kawasetsu, Koh Hosoda","doi":"10.1088/1748-3190/ad839e","DOIUrl":"10.1088/1748-3190/ad839e","url":null,"abstract":"<p><p>A central pattern generator (CPG)-based controller enhances the adaptability of quadrupedal locomotion, for example, by controlling the trunk posture. The conventional CPG-based controllers with attitude control often utilized the posture angle as feedback information. However, if the robot's body is as soft as a musculoskeletal structure, it can detect the over-tilting of the trunk based on proprioceptive information of the muscles. In general, proprioceptive information such as muscle tension changes more rapidly than posture angle information. Therefore, a feedback loop based on proprioceptive information has great potential to respond to sudden disturbances that occur during locomotion over uneven terrain. In this research, we proposed a CPG-based controller utilizing the tension of soft pneumatic artificial muscles (PAMs). Musculoskeletal quadruped robots driven by PAMs are so soft, which prevents over-tilting of the trunk because the soft leg acts like a suspension. In addition, tension, one of the proprioceptive information of PAMs, exhibits high sensitivity to changes in trunk posture because the soft body's motion easily is affected by over-tilting of the trunk. To validate the efficacy of the proposed controller, we conducted numerical simulations with a simple quadruped model and experiments with a musculoskeletal quadruped robot. As a result, the tension feedback is not effective for posture stabilization on flat terrain whereas it is effective on uneven terrain. Moreover, the tension feedback improved the running velocity over uneven terrain. These results will enhance the locomotion capability of musculoskeletal quadruped robots, advancing their practical application.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142376357","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":"3D printed feathers with embedded aerodynamic sensing.","authors":"Ruowen Tu, Rémy A Delplanche, Bret W Tobalske, Daniel J Inman, Henry A Sodano","doi":"10.1088/1748-3190/ad87a0","DOIUrl":"10.1088/1748-3190/ad87a0","url":null,"abstract":"<p><p>Bird flight is often characterized by outstanding aerodynamic efficiency, agility and adaptivity in dynamic conditions. Feathers play an integral role in facilitating these aspects of performance, and the benefits feathers provide largely derive from their intricate and hierarchical structures. Although research has been attempted on developing membrane-type artificial feathers for bio-inspired aircraft and micro air vehicles (MAVs), fabricating anatomically accurate artificial feathers to fully exploit the advantages of feathers has not been achieved. Here, we present our 3D printed artificial feathers consisting of hierarchical vane structures with feature dimensions spanning from 10^-2to 10²mm, which have remarkable structural, mechanical and aerodynamic resemblance to natural feathers. The multi-step, multi-scale 3D printing process used in this work can provide scalability for the fabrication of artificial feathers tailored to the specific size requirements of aircraft wings. Moreover, we provide the printed feathers with embedded aerodynamic sensing ability through the integration of customized piezoresistive and piezoelectric transducers for strain and vibration measurements, respectively. Hence, the 3D printed feather transducers combine the aerodynamic advantages from the hierarchical feather structure design with additional aerodynamic sensing capabilities, which can be utilized in future biomechanical studies on birds and can contribute to advancements in high-performance adaptive MAVs.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142481541","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":"The passive recording of the click trains of a beluga whale (Delphinapterus leucas) and the subsequent creation of a bio-inspired echolocation model.","authors":"Xin Qing, Yuncong Wang, Zhi Xia, Songzuo Liu, Suleman Mazhar, Yibo Zhao, Wangyi Pu, Gang Qiao","doi":"10.1088/1748-3190/ad8f22","DOIUrl":"https://doi.org/10.1088/1748-3190/ad8f22","url":null,"abstract":"<p><p>A beluga-like model of click train signal is developed by observing beluga's sound recording. To reproduce the feature of the biosonar signal, this paper uses a signal extracting method with a correction factor of inter-click interval to acquire the parameter of click trains. The extracted clicks were analyzed in the time and frequency domain. Furthermore, a joint pulse-frequency representation was undertaken in order to provide a 2D energy distribution for an echolocation click train. The results from joint pulse-frequency representation indicate that click train can be adjusted its energy distribution by using a multi-component signal structure. To evaluate the capability of the click train to inform the whale of relevant target information perception for the click train, a finite element model is built to reproduce target discrimination by the bio-inspired click train. Numerical results indicate that the bio-inspired click train could enhance the echo-response by concentrating energy into the frequency bins for extracting target feature effectively. This proof-of-concept study suggests that the model of click train could be dynamically controlled to match the target properties, and show a promising way to use various types of echolocation click train to interrogate different features of the target by man-made sonar.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142584966","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":"Robotic feet modeled after ungulates improve locomotion on soft wet grounds.","authors":"S Godon, A Ristolainen, M Kruusmaa","doi":"10.1088/1748-3190/ad839c","DOIUrl":"https://doi.org/10.1088/1748-3190/ad839c","url":null,"abstract":"<p><p>Locomotion on soft yielding grounds is more complicated and energetically demanding than on hard ground. Wet soft ground (such as mud or snow) is a particularly difficult substance because it dissipates energy when stepping and resists extrusion of the foot. Sinkage in mud forces walkers to make higher steps, thus, to spend more energy. Yet wet yielding terrains are part of the habitat of numerous even-toed ungulates (large mammals with split hooves). We hypothesized that split hooves provide an advantage on wet grounds and investigated the behavior of moose legs on a test rig. We found that split hooves of a moose reduce suction force at extrusion but could not find conclusive evidence that the hoof reduces sinkage. We then continued by designing artificial feet equipped with split-hoof-inspired protuberances and testing them under different conditions. These bio-inspired feet demonstrate an anisotropic behavior enabling reduction of sinkage depth up to 46.3%, suction force by 47.6%, and energy cost of stepping on mud by up to 70.4%. Finally, we mounted these artificial feet on a Go1 quadruped robot moving in mud and observed 38.7% reduction of the mechanical cost of transport and 55.0% increase of speed. Those results help us understand the physics of mud locomotion of animals and design better robots moving on wet terrains. We did not find any disadvantages of the split-hooves-inspired design on hard ground, which suggests that redesigning the feet of quadruped robots improves their overall versatility and efficiency on natural terrains.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":"19 6","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142570206","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":"Designing efficient bird-like flapping-wing aerial vehicles: insights from aviation perspective.","authors":"Dongfu Ma, Bifeng Song, Shijin Gao, Dong Xue, Jianlin Xuan","doi":"10.1088/1748-3190/ad88c4","DOIUrl":"10.1088/1748-3190/ad88c4","url":null,"abstract":"<p><p>Bird-like flapping-wing aerial vehicles (BFAVs) have attracted significant attention due to their advantages in endurance, range, and load capacity. For a long time, biologists have been studying the enigma of bird flight to understand its mechanism. In contrast, aviation designers focus more on bionic flight systems. This paper presents a comprehensive review of the development of BFAV design. The study aims to provide insights into building a flyable model from the perspective of aviation designers, focusing on the methods in the process of overall design, flapping wing design and drive system design. The review examines the annual progress of flight-capable BFAVs, analyzing changes in prototype size and performance over the years. Additionally, the paper highlights various applications of these vehicles. Furthermore, it discusses the challenges encountered in BFAV design and proposes several possible directions for future research, including perfecting design methods, improving component performance, and promoting practical application. This review will provide essential guidelines and insights for designing BFAVs with higher performance.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142481542","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}