Bioinspiration & Biomimetics最新文献_第8页

Wing inertia influences the phase and amplitude relationships between thorax deformation and flapping angle in bumblebees. 翅膀惯性影响大黄蜂胸部变形与扑翼角的相位和振幅关系。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-19 DOI: 10.1088/1748-3190/ada1ba

Braden Cote, Cailin Casey, Mark Jankauski

{"title":"Wing inertia influences the phase and amplitude relationships between thorax deformation and flapping angle in bumblebees.","authors":"Braden Cote, Cailin Casey, Mark Jankauski","doi":"10.1088/1748-3190/ada1ba","DOIUrl":"https://doi.org/10.1088/1748-3190/ada1ba","url":null,"abstract":"Flying insects have a robust flight system that allows them to fly even when their forewings are damaged. Theinsect must adjust wingbeat kinematics to aerodynamically compensate for the loss of wing area. However, themechanisms that allow insects with asynchronous flight muscle to adapt to wing damage are not well understood.Here, we investigated the phase and amplitude relationships between thorax deformation and flapping angle intethered flying bumblebees subject to wing clipping and weighting. We used synchronized laser vibrometry andhigh-speed videography to measure thorax deformation and flapping angle, respectively. We found that changesin wing inertia did not affect thorax deformation amplitude but did influence wingbeat frequency. Increasingwing inertia increased flapping amplitude and caused a phase lag between thorax deformation and flappingangle, whereas decreasing wing inertia did not affect flapping amplitude and caused the flapping angle to leadthorax deformation. Based on our findings, we proposed a qualitative model of the insect flight system. Thismodel suggests insects leverage a wing hinge-dominated vibration mode to fly, and highlights the possibility of adisproportionate damping between the wing hinge and thorax when the insect's wings are clipped. The resultsof our study provide insights into the robust design of insect-inspired flapping wing micro air vehicles.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142866374","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

Aerodynamic performance enhancement of a vertical-axis wind turbine by a biomimetic flap. 仿生襟翼对垂直轴风力机气动性能的增强。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-16 DOI: 10.1088/1748-3190/ad9a45

Sangwoo Ahnn, Hyeongmin Kim, Haecheon Choi

{"title":"Aerodynamic performance enhancement of a vertical-axis wind turbine by a biomimetic flap.","authors":"Sangwoo Ahnn, Hyeongmin Kim, Haecheon Choi","doi":"10.1088/1748-3190/ad9a45","DOIUrl":"10.1088/1748-3190/ad9a45","url":null,"abstract":"We improve the aerodynamic performance of a simplified vertical-axis wind turbine (VAWT) using a biomimetic flap, inspired by the movement of secondary feathers of a bird's wing at landing (Liebe 1979Aerokurier1254). The VAWT considered has three NACA0018 straight blades at the Reynolds number of80000based on the turbine diameter and free-stream velocity. The biomimetic flap is made of a rigid rectangular curved plate, and its streamwise length is 0.2cand axial (spanwise) length is the same as that of blade, wherecis the blade chord length. This device is installed on the inner surface of each blade. Its one side is attached near the blade leading edge (pivot point), and the other side automatically rotates around the pivot point (without external power input) in response to the surrounding flow field during blade rotation. The flap increases the time-averaged power coefficient by 88% at the tip-speed ratio of 0.8, when its pivot point is at 0.1cdownstream from the blade leading edge. While the torque on the blade itself does not change even in the presence of the flap, the flap itself generates additional torque, thus increasing the overall power coefficient. The phase analysis indicates that the power coefficient of VAWT significantly increases during flap opening to full deployment through the interaction with vortices separated from the blade leading edge. When the pivot point of flap is farther downstream from the leading edge or the flap operates at a high tip-speed ratio, the performance of the flap diminishes due to its weaker interaction with the separating vortices.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142775057","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

Multibody system dynamics for bio-robotic design and simulation based on inching-locomotion caterpillar's gait: MBD-ILAR method. 基于微动履带步态的生物机器人多体系统动力学设计与仿真：MBD-ILAR方法。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-13 DOI: 10.1088/1748-3190/ad98d4

José Cornejo, J Enrique Sierra, Francisco Javier Gomez-Gil, Juan A Gallego, Carlo M Biancardi, Alfredo Weitzenfeld

{"title":"Multibody system dynamics for bio-robotic design and simulation based on inching-locomotion caterpillar's gait: MBD-ILAR method.","authors":"José Cornejo, J Enrique Sierra, Francisco Javier Gomez-Gil, Juan A Gallego, Carlo M Biancardi, Alfredo Weitzenfeld","doi":"10.1088/1748-3190/ad98d4","DOIUrl":"10.1088/1748-3190/ad98d4","url":null,"abstract":"Inching-locomotion caterpillars (ILAR) inspire the design of 'inch-worm' robots with biomimicry features, that can be adapted to different environments, such as natural, man-made, or other planets. Therefore, this work defines a novel mathematical method called Multi-Body Dynamics for Inching-Locomotion Caterpillar Robots (MBD-ILAR) to standardize the gait simulation of this type of machines, including a payload over the head to carry an object. The method is composed of 3 steps: (i) setting the model, where the input data is defined by: the phases of walk-stride (PHAWS) based on the bioinspired robotic design (BIROD) method, linkage dimensions of insect's morphology based on the geometrical kinematic analysis (GEKINS) algorithm, the joint types, the link's mass and center of mass, and the gravity constant. Then, (ii) kinematic analysis: to solve the orientation, velocity, and acceleration; and (iii) dynamic analysis: to obtain the joint forces, attachment forces to the ground, motor's torque, and mechanical power. The method was applied in a case study adapting the dimensions of a real specimen-Geometridae sp.(35 000 species), for that purpose, a graphical user interface (GUI) was developed in order to get the biomechanical results that guarantee the robot's actuator selection: (a) attachment mechanisms: vacuum pumps with suction cups (SC) or electromagnets (EM), and (b) joints: electromechanical rotary servomotors. Finally, to validate the numerical approach of MBD-ILAR, we performed an influence study of model parameters: link's length, link's mass, and gravity on the behavior of the attachment forces to the ground, torque, and mechanical power. The future method's application is expected to be useful to complete the phase of the computational robotic design before the physically mechatronic implementation; in addition, it could be adapted to other arthropods.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142755862","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 pack hunting strategy for heterogeneous robots in rescue operations. 救援行动中异构机器人的 "猎群 "策略

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-13 DOI: 10.1088/1748-3190/ad9f01

Dileep Sivaraman, Songpol Ongwattanakul, Choladawan Moonjaita, Jackrit Suthakorn, Branesh Madhavan Pillai

{"title":"A pack hunting strategy for heterogeneous robots in rescue operations.","authors":"Dileep Sivaraman, Songpol Ongwattanakul, Choladawan Moonjaita, Jackrit Suthakorn, Branesh Madhavan Pillai","doi":"10.1088/1748-3190/ad9f01","DOIUrl":"https://doi.org/10.1088/1748-3190/ad9f01","url":null,"abstract":"This study focuses on improving coordination among teams of heterogeneous robots, including Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), drawing inspiration from natural pack-hunting strategies. The goal is to increase the effectiveness of rescue operations using a new framework that combines hierarchical decision making with decentralised control. The approach features dynamic target assignment and real time task allocation based on a scoring function that considers multiple factors, such as the distance to the target, energy usage, communication ability, and potential for energy exchange. In contrast to methods that use static roles, this system allows robots to change between 'Chaser' and 'Flanker' roles based on current data, improving adaptability. Results showed that this approach led to better coordination and decision-making, with robots autonomously adjusting their roles to improve mission outcomes. The findings suggest that combining hierarchical structures with decentralised control improves responsiveness and ensures the effective use of resources in complex, changing environments, making this method well-suited for real-world rescue operations.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142822762","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

Touch-down condition control for the bipedal spring-mass model in walking. 行走时两足弹簧-质量模型的触地条件控制。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-09 DOI: 10.1088/1748-3190/ad9533

Hamid Vejdani, Albert Wu, Hartmut Geyer, Jonathan W Hurst

{"title":"Touch-down condition control for the bipedal spring-mass model in walking.","authors":"Hamid Vejdani, Albert Wu, Hartmut Geyer, Jonathan W Hurst","doi":"10.1088/1748-3190/ad9533","DOIUrl":"10.1088/1748-3190/ad9533","url":null,"abstract":"Behaviors of animal bipedal locomotion can be described, in a simplified form, by the bipedal spring-mass model. The model provides predictive power, and helps us understand this complex dynamical behavior. In this paper, we analyzed a range of gaits generated by the bipedal spring-mass model during walking, and proposed a stabilizing touch-down condition for the swing leg. This policy is stabilizing against disturbances inside and outside the same energy level and requires only internal state information. In order to generalize the results to be independent of size and dimension of the system, we nondimensionalized the equations of motion for the bipedal spring-mass model. We presented the equilibrium gaits (a.k.a fixed point gaits) as a continuum on the walking state space showing how the different types of these gaits evolve and where they are located in the state space. Then, we showed the stability analysis of the proposed touch-down control policy for different energy levels and leg stiffness values. The results showed that the proposed touch-down control policy can stabilize towards all types of the symmetric equilibrium gaits. Moreover, we presented how the peak leg force changes within an energy level and as it varies due to the type of the gait since peak force is important as a measurement of injury or damage risk on a robot or animal. Finally, we presented simulations of the bipedal spring-mass model walking on level ground and rough terrain transitioning between different equilibrium gaits as the energy level of the system changes with respect to the ground height. The analysis in this paper is theoretical, and thus applicable to further our understanding of animal bipedal locomotion and the design and control of robotic systems like ATRIAS, Cassie, and Digit.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142683673","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

The passive recording of the click trains of a beluga whale (Delphinapterus leucas) and the subsequent creation of a bio-inspired echolocation model. 被动记录白鲸（Delphinapterus leucas）的点击序列，并随后创建生物启发回声定位模型。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-06 DOI: 10.1088/1748-3190/ad8f22

Xin Qing, Yuncong Wang, Zhi Xia, Songzuo Liu, Suleman Mazhar, Yibo Zhao, Wangyi Pu, Gang Qiao

{"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":"10.1088/1748-3190/ad8f22","url":null,"abstract":"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.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-06","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}

引用次数: 0

Design, modeling and validation of a low-cost linkage-spring telescopic rod-slide underactuated adaptive robotic hand. 低成本连杆弹簧伸缩杆滑欠驱动自适应机械手的设计、建模与验证。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-05 DOI: 10.1088/1748-3190/ad9aee

Gengbiao Chen, Hanxiao Wang, Lairong Yin

引用次数: 0

Predictive uncertainty in state-estimation drives active sensing. 状态估计中的预测不确定性驱动主动传感。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-04 DOI: 10.1088/1748-3190/ad9534

Osman Kaan Karagoz, Aysegul Kilic, Emin Yusuf Aydin, Mustafa Mert Ankarali, Ismail Uyanik

{"title":"Predictive uncertainty in state-estimation drives active sensing.","authors":"Osman Kaan Karagoz, Aysegul Kilic, Emin Yusuf Aydin, Mustafa Mert Ankarali, Ismail Uyanik","doi":"10.1088/1748-3190/ad9534","DOIUrl":"10.1088/1748-3190/ad9534","url":null,"abstract":"Animals use active sensing movements to shape the spatiotemporal characteristics of sensory signals to better perceive their environment under varying conditions. However, the underlying mechanisms governing the generation of active sensing movements are not known. To address this, we investigated the role of active sensing movements in the refuge tracking behavior ofEigenmannia virescens, a species of weakly electric fish. These fish track the longitudinal movements of a refuge in which they hide by swimming back and forth in a single linear dimension. During refuge tracking,Eigenmanniaexhibits stereotyped whole-body oscillations when the quality of the sensory signals degrades. We developed a closed-loop feedback control model to examine the role of these ancillary movements on the task performance. Our modeling suggests that fish may use active sensing to minimize predictive uncertainty in state estimation during refuge tracking. The proposed model generates simulated fish trajectories that are statistically indistinguishable from that of the actual fish, unlike the open-loop noise generator and stochastic resonance generator models in the literature. These findings reveal the significance of closed-loop control in active sensing behavior, offering new insights into the underlying mechanisms of dynamic sensory modulation.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142683694","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

Genetic algorithm-based optimal design for fluidic artificial muscle (FAM) bundles. 基于遗传算法的流体人工肌肉（FAM）束优化设计。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-03 DOI: 10.1088/1748-3190/ad9532

Emily Duan, Matthew Bryant

{"title":"Genetic algorithm-based optimal design for fluidic artificial muscle (FAM) bundles.","authors":"Emily Duan, Matthew Bryant","doi":"10.1088/1748-3190/ad9532","DOIUrl":"10.1088/1748-3190/ad9532","url":null,"abstract":"In this paper, we present a design optimization framework for a fluidic artificial muscle (FAM) bundle subject to geometric constraints. The architecture of natural skeletal muscles allows for compact actuation packaging by distributing a substantial number of actuation elements or muscle fiber motor units, which are to be arranged, oriented, and sized in various formations. Many researchers have drawn inspiration from these natural muscle architectures to assist in designing soft robotic systems safe for human-robot interaction. Although there are known tradeoffs identified between different muscle architectures, this optimization framework offers a method to map these architectural tradeoffs to soft actuator designs. The actuation elements selected for this study are FAMs or McKibben muscles due to their inherent compliance, cheap construction, high force-to-weight ratio, and muscle-like force-contraction behavior. Preceding studies analytically modeled the behavior of arranging FAMs in parallel, asymmetrical unipennate, and symmetrical bipennate topologies inspired by the fiber architectures found in human muscle tissues. A more recent study examined the implications of spatial constraints on bipennate FAM bundle actuation and found that by careful design, a bipennate FAM bundle can produce more force, contraction, stiffness, and work output than that of a parallel FAM bundle under equivalent spatial bounds. This multi-objective genetic algorithm-based optimization framework is used to realize desirable topological properties of a FAM bundle for maximum force and stroke for a given spatial envelope. The results help identify tradeoffs to inform design decisions based on the force and stroke demand from the desired operating task. This study further demonstrates how the desirable topological properties of the optimized FAM bundle change with different spatial bounds.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142683664","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 design and validation of a soft robotic end-effector with integrated shape memory alloy-driven suction capabilities. 受生物启发设计并验证了具有集成 SMA 驱动抽吸功能的软机器人末端执行器。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-12-02 DOI: 10.1088/1748-3190/ad936e

Weimian Zhou, Chanchan Xu, Guisong Chen, Xiaojie Wang

{"title":"Bioinspired design and validation of a soft robotic end-effector with integrated shape memory alloy-driven suction capabilities.","authors":"Weimian Zhou, Chanchan Xu, Guisong Chen, Xiaojie Wang","doi":"10.1088/1748-3190/ad936e","DOIUrl":"10.1088/1748-3190/ad936e","url":null,"abstract":"The exploration of adaptive robotic systems capable of performing complex tasks in unstructured environments, such as underwater salvage operations, presents a significant challenge. Traditional rigid grippers often struggle with adaptability, whereas bioinspired soft grippers offer enhanced flexibility and adaptability to varied object shapes. In this study, we present a novel bioinspired soft robotic gripper integrated with a shape memory alloy (SMA) actuated suction cup, inspired by the versatile grasping strategies of octopus arms and suckers. Our design leverages a tendon-driven composite arm, enabling precise bending and adaptive grasping, combined with SMA technology to create a compact, efficient suction mechanism. We develop comprehensive kinematic and static models to predict the interaction between arm bending deflection and suction force, thereby optimizing the gripper's performance. Experimental validation demonstrates the efficacy of our integrated design, highlighting its potential for advanced manipulation tasks in challenging environments. This work provides a new perspective on the integration of bioinspired design principles with smart materials, paving the way for future innovations in adaptive robotic systems.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142640376","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