A fin is a thin component or appendage attached to a larger body or structure. Fins typically function as foils that produce lift or thrust, or provide the ability to steer or stabilize motion while traveling in water, air, or other fluids. Fins are also used to increase surface areas for heat transfer purposes, or simply as ornamentation.
Quadrupedalism is a form of locomotion where animals have four legs that are used to bear weight and move around. An animal or machine that usually maintains a four-legged posture and moves using all four legs is said to be a quadruped. Quadruped animals are found among both vertebrates and invertebrates.
Walking is one of the main gaits of terrestrial locomotion among legged animals. Walking is typically slower than running and other gaits. Walking is defined as an "inverted pendulum" gait in which the body vaults over the stiff limb or limbs with each step. This applies regardless of the usable number of limbs—even arthropods, with six, eight, or more limbs, walk. In humans, walking has health benefits including improved mental health and reduced risk of cardiovascular disease and death.
Microbotics is the field of miniature robotics, in particular mobile robots with characteristic dimensions less than 1 mm. The term can also be used for robots capable of handling micrometer size components.
In ethology, animal locomotion is any of a variety of methods that animals use to move from one place to another. Some modes of locomotion are (initially) self-propelled, e.g., running, swimming, jumping, flying, hopping, soaring and gliding. There are also many animal species that depend on their environment for transportation, a type of mobility called passive locomotion, e.g., sailing, kiting (spiders), rolling or riding other animals (phoresis).
Robot locomotion is the collective name for the various methods that robots use to transport themselves from place to place.
Cockroaches are insects belonging to the order Blattodea (Blattaria). About 30 cockroach species out of 4,600 are associated with human habitats. Some species are well-known pests.
Campaniform sensilla are a class of mechanoreceptors found in insects, which respond to local stress and strain within the animal's cuticle. Campaniform sensilla function as proprioceptors that detect mechanical load as resistance to muscle contraction, similar to mammalian Golgi tendon organs. Sensory feedback from campaniform sensilla is integrated in the control of posture and locomotion.
Blaberus discoidalis, commonly known as the discoid cockroach, tropical cockroach, West Indian leaf cockroach, false death's head cockroach, Haitian cockroach, and drummer, is a cockroach native to Central America of the "giant cockroach" family, Blaberidae.
A six-legged walking robot should not be confused with a Stewart platform, a kind of parallel manipulator used in robotics applications.
Legged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry.
Neurorobotics is the combined study of neuroscience, robotics, and artificial intelligence. It is the science and technology of embodied autonomous neural systems. Neural systems include brain-inspired algorithms, computational models of biological neural networks and actual biological systems. Such neural systems can be embodied in machines with mechanic or any other forms of physical actuation. This includes robots, prosthetic or wearable systems but also, at smaller scale, micro-machines and, at the larger scales, furniture and infrastructures.
Several organisms are capable of rolling locomotion. However, true wheels and propellers—despite their utility in human vehicles—do not play a significant role in the movement of living things. Biologists have offered several explanations for the apparent absence of biological wheels, and wheeled creatures have appeared often in speculative fiction.
Robotics is the interdisciplinary study and practice of the design, construction, operation, and use of robots.
The following outline is provided as an overview of and topical guide to robotics:
LAURON is a six-legged walking robot, which is being developed at the FZI Forschungszentrum Informatik in Germany. The mechanics and the movements of the robot are biologically-inspired, mimicking the stick insect Carausius Morosus. The development of the LAURON walking robot started with basic research in field of six-legged locomotion in the early 1990s and led to the first robot, called LAURON. In the year 1994, this robot was presented to public at the CeBIT in Hanover. This first LAURON generation was, in contrast to the current generation, controlled by an artificial neural network, hence the robot's German name: LAUfROboter Neuronal gesteuert. The current generation LARUON V was finished in 2013.
Randall D. Beer is a professor of cognitive science, computer science, and informatics at Indiana University. He was previously at Case Western Reserve University. His primary research interest is in understanding how coordinated behavior arises from the neurodynamics of an animal's nervous system, its body and its environment. He works on the evolution and analysis of dynamical "nervous systems" for model agents, neuromechanical modeling of animals, biomorphic robotics, and dynamical systems approaches to behavior and cognition. More generally, he is interested in computational and theoretical biology, including models of metabolism, gene regulation and development. He also has a longstanding interest in the design and implementation of dynamic programming languages and their environments.
Bio-inspired robotic locomotion is a subcategory of bio-inspired design. It is about learning concepts from nature and applying them to the design of real-world engineered systems. More specifically, this field is about making robots that are inspired by biological systems, including Biomimicry. Biomimicry is copying from nature while bio-inspired design is learning from nature and making a mechanism that is simpler and more effective than the system observed in nature. Biomimicry has led to the development of a different branch of robotics called soft robotics. The biological systems have been optimized for specific tasks according to their habitat. However, they are multifunctional and are not designed for only one specific functionality. Bio-inspired robotics is about studying biological systems, and looking for the mechanisms that may solve a problem in the engineering field. The designer should then try to simplify and enhance that mechanism for the specific task of interest. Bio-inspired roboticists are usually interested in biosensors, bioactuators, or biomaterials. Most of the robots have some type of locomotion system. Thus, in this article different modes of animal locomotion and few examples of the corresponding bio-inspired robots are introduced.
An insectoid robot is a, usually small, robot featuring some insect-like features. These can include the methods of locomotion, methods of navigation, and artificial intelligence based on insect models. Many of the problems faced by miniature robot designers have been solved by insect evolution. Researchers naturally look to insects for inspiration and solutions.
Synthetic Nervous System (SNS) is a computational neuroscience model that may be developed with the Functional Subnetwork Approach (FSA) to create biologically plausible models of circuits in a nervous system. The FSA enables the direct analytical tuning of dynamical networks that perform specific operations within the nervous system without the need for global optimization methods like genetic algorithms and reinforcement learning. The primary use case for a SNS is system control, where the system is most often a simulated biomechanical model or a physical robotic platform. An SNS is a form of a neural network much like artificial neural networks (ANNs), convolutional neural networks (CNN), and recurrent neural networks (RNN). The building blocks for each of these neural networks is a series of nodes and connections denoted as neurons and synapses. More conventional artificial neural networks rely on training phases where they use large data sets to form correlations and thus “learn” to identify a given object or pattern. When done properly this training results in systems that can produce a desired result, sometimes with impressive accuracy. However, the systems themselves are typically “black boxes” meaning there is no readily distinguishable mapping between structure and function of the network. This makes it difficult to alter the function, without simply starting over, or extract biological meaning except in specialized cases. The SNS method differentiates itself by using details of both structure and function of biological nervous systems. The neurons and synapse connections are intentionally designed rather than iteratively changed as part of a learning algorithm.
