Bioinspiration & Biomimetics最新文献_第8页

Locomotion design of transverse ledge brachiation robot with active wrist joint for lateral posture compensation. 主动腕关节横向臂架机器人横向姿态补偿运动设计。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-02-14 DOI: 10.1088/1748-3190/adb117

Reno Pangestu, Shu-Ting Yeh, Chi-Ying Lin

{"title":"Locomotion design of transverse ledge brachiation robot with active wrist joint for lateral posture compensation.","authors":"Reno Pangestu, Shu-Ting Yeh, Chi-Ying Lin","doi":"10.1088/1748-3190/adb117","DOIUrl":"10.1088/1748-3190/adb117","url":null,"abstract":"A transverse ledge brachiation robot is designed to move transversely along a ledge on a vertical wall by generating energy from the swinging motion of its lower limbs. This method reduces the force required by the upper limbs to propel the robot forward. However, previously developed robots often encounter a common issue: lateral posture deviation, which is typically caused by slippage when the grippers grasp the ledge. Without compensation, this deviation can increase the risk of falling during continuous brachiation cycles. To address this problem, we propose an active wrist joint mechanism utilizing a feedback control approach as the compensator to effectively correct gripper position deviations. In our robot design, we develop a motion control strategy that coordinates the upper and lower limbs in order to maintain the swing energy that can be transferred to the subsequent cycles. Then we propose a potential energy-based phase switching condition in the motion control strategy in order to simplify the computation process. Simulation results demonstrate that the optimized parameter for compensation effectively maintains the gripper's position relative to the ledge throughout 55 brachiation cycles. Furthermore, experiment validation shows that this posture compensation reduces deviation by one-third compared to results without compensation. This study has demonstrated a 68% improvement in energy consumption efficiency for continuous transverse brachiation compared to the previous generation, as well as a 37% improvement over transverse ricochetal brachiation locomotion.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143076641","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

A wing-flapping robot with a bio-inspired folding mechanism derived from the beetle's hind wing. 一种扑翼机器人，其仿生折叠机制来源于甲虫的后翼。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-02-14 DOI: 10.1088/1748-3190/adb2cb

Xin Li, Yu Zheng, Huan Shen

引用次数: 0

Biomimetic tools: insights and implications of a comprehensive analysis and classification. 仿生工具：综合分析和分类的见解和含义。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-02-12 DOI: 10.1088/1748-3190/adaff6

Jindong Zhang, Laila Kestem, Kirsten Wommer, Kristina Wanieck

{"title":"Biomimetic tools: insights and implications of a comprehensive analysis and classification.","authors":"Jindong Zhang, Laila Kestem, Kirsten Wommer, Kristina Wanieck","doi":"10.1088/1748-3190/adaff6","DOIUrl":"10.1088/1748-3190/adaff6","url":null,"abstract":"Biomimetics as the transdisciplinary field leveraging biologically inspired solutions for technical and practical challenges has gained traction in recent decades. Despite its potential for innovation, the complexity of its process requires a deeper understanding of underlying tasks, leading to the development of various tools to aid this process. This study identified an inventory of 104 tools used in biomimetics, of which 24 have been classified as fully accessible, functional, and ready-to-use biomimetic tools. Additionally, it provides definitions and evaluation criteria for biomimetic tools, offering a structured approach to tool assessment. The 24 tools have been assessed based on ten criteria in a qualitative and quantitative analysis yielding an overview of their typology, accessibility, stage of development, and other key characteristics. Patterns of the typology development of tools over time revealed a trend towards integrating computational methods and artificial intelligence, thereby enhancing the tool's functionality and user engagement. However, gaps in tool functionality and maturity, such as the lack of tools designed to support technical processes, the absence of tools tailored for solution-based approaches, and insufficient evidence of successful tool application, highlight areas for future research. The study results underscore the need for empirical validation of tools, and research into the effectiveness of holistic tools covering multiple stages of the biomimetic process. By addressing these gaps and leveraging existing strengths, the field of biomimetics can continue to advance, providing innovative solutions inspired by biological models.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143069870","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

Resilience of hierarchical actuators highlighted by a myosin-to-muscle mock-up. 由肌球蛋白到肌肉模型强调的分层致动器的弹性。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-02-10 DOI: 10.1088/1748-3190/adadd5

Raphaël Perrier, Jean-Marc Linares, Loïc Tadrist

{"title":"Resilience of hierarchical actuators highlighted by a myosin-to-muscle mock-up.","authors":"Raphaël Perrier, Jean-Marc Linares, Loïc Tadrist","doi":"10.1088/1748-3190/adadd5","DOIUrl":"10.1088/1748-3190/adadd5","url":null,"abstract":"Skeletal muscle is the main actuator of various families of vertebrates (mammals, fish, reptiles). It displays remarkable robustness to micro-damage, that supposedly originates both from its redundant hierarchical structure and its nervous command. A bioinspired mock-up was designed and manufactured mimicking sarcomeres (micro-scale) and its series and parallel structure from fibre to muscle. First, the mechanical performances namely the force-velocity curve of the intact muscle mock-up were measured and modelled. Then, mimicking micro-damage by making some myosin heads inoperative, the mechanical performances were again measured to determine the resilience of the actuator. The mock-up is shown to be resilient: in the event of 10% damage of the mock-up, the mechanical performance of the mock-up was around 80% of the intact one. In this multi degrees of freedom actuator with hierarchical structure, the resilience is shown to be almost linear with the damage level for uniformly distributed damage (both maximal force and velocity decrease). Differently when micro-damage are clustered on a fibre, this decreases the maximal force with little effect on velocity.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143030060","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

Design and experiments of a humanoid torso based on biological features. 基于生物特征的人形躯干设计与实验。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-02-07 DOI: 10.1088/1748-3190/adadba

Wenshuo Gao, Zhiwei Tian

{"title":"Design and experiments of a humanoid torso based on biological features.","authors":"Wenshuo Gao, Zhiwei Tian","doi":"10.1088/1748-3190/adadba","DOIUrl":"10.1088/1748-3190/adadba","url":null,"abstract":"Among the components of a humanoid robot, a humanoid torso plays a vital role in supporting a humanoid robot to complete the desired motions. In this paper, a new LARMbot torso is developed to obtain better working performance based on biological features. By analyzing the anatomy of a human torso and spine, a parallel cable-driven mechanism is proposed to actuate the whole structure using two servo motors and two pulleys. Analysis is conducted to evaluate the properties of the proposed parallel cable-driven mechanism. A closed-loop control system is applied to control the whole LARMbot torso. Experiments are performed using the manufactured prototype in three modes to evaluate the characterizations of the proposed design. Results show that the proposed LARMbot can complete the desired motions properly, including two general human-like motions and a full rotation motion. When completing two general human-like motions, the maximum bending angle is 40 degrees. The maximum cable tension is 0.68 N, and the maximum required power is 18.3 W. In full rotation motion, the maximum bending angle is 30 degrees. The maximum cable tension is 0.75 N, and the maximum power required is 20.5 W. The proposed design is simplified and lightweight, with low energy consumption and flexible spatial motion performance that can meet the requirements of the humanoid robot torso's application in complex scenarios and commercial requirements.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143029993","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

Exploring the swimming performance and the physical mechanisms ofTomopterislocomotion. 探索游泳性能和tomopterismotion的物理机制。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-02-07 DOI: 10.1088/1748-3190/adad26

Nicholas A Battista

{"title":"Exploring the swimming performance and the physical mechanisms ofTomopterislocomotion.","authors":"Nicholas A Battista","doi":"10.1088/1748-3190/adad26","DOIUrl":"10.1088/1748-3190/adad26","url":null,"abstract":"Tomopterids are mesmerizing holopelagic swimmers. They use two modes of locomotion simultaneously: drag-based metachronal paddling and bodily undulation.Tomopterishas two rows of flexible, leg-like parapodia positioned on opposite sides of its body. Each row metachronally paddles out of phase to the other. Both paddling behaviors occur in concert with a lateral bodily undulation. However, when looked at independently, each mode appears in tension with the other. The direction of the undulatory wave is opposite of what one may expect for forward (FWD) swimming and appears to actively work act against the direction of swimming initiated by metachronal paddling. To investigate how these two modes of locomotion synergize to generate effective swimming, we created a self-propelled, fluid-structure interaction model of an idealizedTomopteris. We holistically explored swimming performance over a 3D mechanospace comprising parapodia length, paddling amplitude, and undulatory amplitude using a machine learning framework based on polynomial chaos expansions. Although undulatory amplitude minimally affected FWD swimming speeds, it helped mitigate the larger costs of transport that arise from either using more mechanically expensive (larger) paddling amplitudes and/or having longer parapodia.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143025402","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

Geometric description of a gliding grey-headed albatross (Thalassarche chrysostoma) for computer-aided design. 滑翔灰头信天翁（Thalassarche chrysostoma）的计算机辅助设计几何描述。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-02-07 DOI: 10.1088/1748-3190/adad25

J Schoombie, K J Craig, L Smith

{"title":"Geometric description of a gliding grey-headed albatross (Thalassarche chrysostoma) for computer-aided design.","authors":"J Schoombie, K J Craig, L Smith","doi":"10.1088/1748-3190/adad25","DOIUrl":"10.1088/1748-3190/adad25","url":null,"abstract":"Albatrosses are increasingly drawing attention from the scientific community due to their remarkable flight capabilities. Recent studies suggest that grey-headed albatrosses (GHA) may be the fastest and most energy-efficient of the albatross species, yet no attempts have been made to replicate their wing design. A key factor in aircraft design is the airfoil, which remains uncharacterized for the GHA. Other critical aspects, such as wing twist and dihedral/anhedral, also remain unquantified for any albatross species. This study aimed to fill this gap in the current knowledge by extracting detailed morphological data from a GHA wing to recreate digitally. A well-preserved dried GHA wing was scanned in the presence of airflow in a wind tunnel, at conditions that represent a GHA in gliding flight. Wing cross-sections were extracted and smoothed to produce a series of airfoils along the wing span. The 3D properties such as wing dihedral/anhedral, sweep and twist were also extracted and used to build a CAD model of the wing. Variations in airfoil shape were observed along the wing span, with thicker, more cambered airfoils near the wing base. The model wing's camber was slightly higher, particularly in the arm section, but overall matched flight photographs. The body, tail, and bill were modelled based on available photographs and known dimensions from literature and merged with the wing to form the final bill-body-wing-tail model. This model is based on real GHA morphology under aerodynamic pressure, in gliding flight. Although geometric changes due to scanner interference remain a limitation of this method, the extracted geometric data still provide valuable insights into wing performance under varying conditions. The geometry can also be fully parameterized for complex simulations, aiding studies of GHA aerodynamics and engineering design, such as in aircraft or wind turbines at similar Reynolds numbers.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143025520","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

Inspired by the growth behavior of plants: biomimetic soft robots that just meet the requirements of use. 灵感来自植物的生长行为：刚好满足使用要求的仿生软体机器人。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-02-04 DOI: 10.1088/1748-3190/adae6c

Liu Yang, Liu Fang, Zengzhi Zhang

{"title":"Inspired by the growth behavior of plants: biomimetic soft robots that just meet the requirements of use.","authors":"Liu Yang, Liu Fang, Zengzhi Zhang","doi":"10.1088/1748-3190/adae6c","DOIUrl":"10.1088/1748-3190/adae6c","url":null,"abstract":"Soft robots are usually manufactured using the pouring method and can only be configured with a fixed execution area, which often faces the problem of insufficient or wasteful performance in real-world applications, and cannot be reused for other tasks. In order to overcome this limitation, we propose a simple and controllable rather than redesigned method inspired by the bionic growth behavior of plants, and prepare bionic soft robots that can just meet the requirements of use, and transform biological intelligence into mechanical intelligence. Based on finite element method, we establish a theoretical model of soft robot performance. And the experimental platform is designed to conduct experimental research on the prototype of the soft robot. Compared with the results obtained through the theoretical model, it is found out that the experimental bending angle and elongation are slightly smaller than the simulation results. (The maximum error of elongation prediction for soft robots (Fashion 1-4) is 5.7%, 5.9%, 6%, and 6%, and the maximum error of bending angle prediction is 7.1%, 7.5%, 7.6%, and 7.6%, respectively). The high consistence between our theoretical model and the experimental results shows that the theoretical model is applicable to accurately predict the performance of soft robots. It is worth pointing out that this design as proposed in this paper can be extended to the wider field of soft robotics as a generic one.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143043435","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 design characteristics and parameter laws of bird-like flapping-wing aerial vehicles from the perspective of scaling. 从尺度的角度研究了类鸟扑翼飞行器的设计特点和参数规律。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-01-31 DOI: 10.1088/1748-3190/adadbc

Dongfu Ma, Bifeng Song, Jianing Cao, Jiaxin Wang, Jianlin Xuan, Xia Liu

{"title":"Investigating the design characteristics and parameter laws of bird-like flapping-wing aerial vehicles from the perspective of scaling.","authors":"Dongfu Ma, Bifeng Song, Jianing Cao, Jiaxin Wang, Jianlin Xuan, Xia Liu","doi":"10.1088/1748-3190/adadbc","DOIUrl":"10.1088/1748-3190/adadbc","url":null,"abstract":"Bird-like flapping-wing aerial vehicles (BFAVs) represent a significant advancement in the application of bird biology to aircraft design, with scaling analysis serving as an effective tool for identifying this design process. From the perspective of aviation designers, this paper systematically organizes the scaling laws of birds that are closely related to the design of BFAVs. An intriguing topic further explored is the comparison between birds and BFAVs from the standpoint of scaling, along with an examination of the differences in relevant design parameters. This analysis aims to enhance communication between biologists and engineers, ultimately fostering the development of improved bionic systems. By introducing the concept of periodic average angular velocity, both frequency and amplitude are uniformly considered, providing a clearer explanation of the design characteristics of BFAVs. Finally, a method for establishing the initial parameters based on the scaling laws of BFAVs is proposed, and its effectiveness is validated through design cases, offering a novel approach for the development of new prototypes.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143029916","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

Visual collective behaviors on spherical robots. 球形机器人的视觉集体行为。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-01-31 DOI: 10.1088/1748-3190/adaab9

Diego Castro, Christophe Eloy, Franck Ruffier

{"title":"Visual collective behaviors on spherical robots.","authors":"Diego Castro, Christophe Eloy, Franck Ruffier","doi":"10.1088/1748-3190/adaab9","DOIUrl":"10.1088/1748-3190/adaab9","url":null,"abstract":"The implementation of collective motion, traditionally, disregard the limited sensing capabilities of an individual, to instead assuming an omniscient perception of the environment. This study implements a visual flocking model in a 'robot-in-the-loop' approach to reproduce these behaviors with a flock composed of 10 independent spherical robots. The model achieves robotic collective motion by only using panoramic visual information of each robot, such as retinal position, optical size and optic flow of the neighboring robots. We introduce a virtual anchor to confine the collective robotic movements so to avoid wall interactions. For the first time, a simple visual robot-in-the-loop approach succeed in reproducing several collective motion phases, in particular, swarming, and milling. Another milestone achieved with by this model is bridging the gap between simulation and physical experiments by demonstrating nearly identical behaviors in both environments with the same visual model. To conclude, we show that our minimal visual collective motion model is sufficient to recreate most collective behaviors on a robot-in-the-loop system that be implemented using several individuals, behaves as numerical simulations predict and is easily comparable to traditional models.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143016937","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