Bio-inspired robotics

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Two u-CAT robots that are being developed at the Tallinn University of Technology to reduce the cost of underwater archaeological operations Two u-CAT robots standing still.jpg
Two u-CAT robots that are being developed at the Tallinn University of Technology to reduce the cost of underwater archaeological operations

Bio-inspired robotic locomotion is a fairly new[ citation needed ] 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 (e.g. eye), bioactuators (e.g. muscle), or biomaterials (e.g. spider silk). 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.

Contents

Stickybot: a gecko-inspired robot Stickybot.jpg
Stickybot: a gecko-inspired robot

Biolocomotion

Biolocomotion or animal locomotion is usually categorized as below:

Locomotion on a surface

Locomotion on a surface may include terrestrial locomotion and arboreal locomotion. We will specifically discuss about terrestrial locomotion in detail in the next section.

Big eared townsend bat (Corynorhinus townsendii) Big-eared-townsend-fledermaus.jpg
Big eared townsend bat (Corynorhinus townsendii)

Locomotion in a fluid

Locomotion in a blood stream or cell culture media swimming and flying. There are many swimming and flying robots designed and built by roboticists. [1] Some of them use miniaturized motors or conventional MEMS actuators (such as piezoelectric, thermal, magnetic, etc), [2] [3] [4] while others use animal muscle cells as motors. [5] [6] [7]

Behavioral classification (terrestrial locomotion)

There are many animal and insects moving on land with or without legs. We will discuss legged and limbless locomotion in this section as well as climbing and jumping. Anchoring the feet is fundamental to locomotion on land. The ability to increase traction is important for slip-free motion on surfaces such as smooth rock faces and ice, and is especially critical for moving uphill. Numerous biological mechanisms exist for providing purchase: claws rely upon friction-based mechanisms; gecko feet upon van der walls forces; and some insect feet upon fluid-mediated adhesive forces. [8]

Rhex: a Reliable Hexapedal Robot Rhex.jpg
Rhex: a Reliable Hexapedal Robot

Legged locomotion

Legged robots may have one, [9] [10] [11] two, [12] four, [13] six, [14] [15] [16] or many legs [17] depending on the application. One of the main advantages of using legs instead of wheels is moving on uneven environment more effectively. Bipedal, quadrupedal, and hexapedal locomotion are among the most favorite types of legged locomotion in the field of bio-inspired robotics. Rhex, a Reliable Hexapedal robot [14] and Cheetah [18] are the two fastest running robots so far. iSprawl is another hexapedal robot inspired by cockroach locomotion that has been developed at Stanford University. [15] This robot can run up to 15 body length per second and can achieve speeds of up to 2.3 m/s. The original version of this robot was pneumatically driven while the new generation uses a single electric motor for locomotion. [16]

Limbless locomotion

Terrain involving topography over a range of length scales can be challenging for most organisms and biomimetic robots. Such terrain are easily passed over by limbless organisms such as snakes. Several animals and insects including worms, snails, caterpillars, and snakes are capable of limbless locomotion. A review of snake-like robots is presented by Hirose et al. [19] These robots can be categorized as robots with passive or active wheels, robots with active treads, and undulating robots using vertical waves or linear expansions. Most snake-like robots use wheels, which are high in friction when moving side to side but low in friction when rolling forward (and can be prevented from rolling backward). The majority of snake-like robots use either lateral undulation or rectilinear locomotion and have difficulty climbing vertically. Choset has recently developed a modular robot that can mimic several snake gaits, but it cannot perform concertina motion. [20] Researchers at Georgia Tech have recently developed two snake-like robots called Scalybot. The focus of these robots is on the role of snake ventral scales on adjusting the frictional properties in different directions. These robots can actively control their scales to modify their frictional properties and move on a variety of surfaces efficiently. [21] Researchers at CMU have developed both scaled [22] and conventional actuated snake-like robots. [23]

Climbing

Climbing is an especially difficult task because mistakes made by the climber may cause the climber to lose its grip and fall. Most robots have been built around a single functionality observed in their biological counterparts. Geckobots typically use van der waals forces that work only on smooth surfaces. [24] Being inspired from geckos, scientists from Stanford university have artificially created recreated the adhesive property of a gecko. Similar to seta in a gecko's leg, millions of microfibers were placed and attached to a spring. The tip of the microfiber will be sharp and pointed in usual circumstances, but upon actuation, the movement of a spring will create a stress which bends these microfibers and increase their contact area to the surface of a glass or wall. Using the same technology, gecko grippers were invented by NASA scientists for different applications in space. Stickybots use directional dry adhesives that works best on smooth surfaces. [25] [26] [27] [28] [29] The Spinybot [30] and RiSE [31] robots are among the insect-like robots that use spines instead. Legged climbing robots have several limitations. They cannot handle large obstacles since they are not flexible and they require a wide space for moving. They usually cannot climb both smooth and rough surfaces or handle vertical to horizontal transitions as well.

Jumping

One of the tasks commonly performed by a variety of living organisms is jumping. Bharal, hares, kangaroo, grasshopper, flea, and locust are among the best jumping animals. A miniature 7g jumping robot inspired by locust has been developed at EPFL that can jump up to 138 cm. [32] The jump event is induced by releasing the tension of a spring. The highest jumping miniature robot is inspired by the locust, weighs 23 grams with its highest jump to 365 cm is "TAUB" (Tel-Aviv University and Braude College of engineering). [33] It uses torsion springs as energy storage and includes a wire and latch mechanism to compress and release the springs. ETH Zurich has reported a soft jumping robot based on the combustion of methane and laughing gas. [34] The thermal gas expansion inside the soft combustion chamber drastically increases the chamber volume. This causes the 2 kg robot to jump up to 20 cm. The soft robot inspired by a roly-poly toy then reorientates itself into an upright position after landing.

Behavioral classification (aquatic locomotion)

Swimming (piscine)

It is calculated that when swimming some fish can achieve a propulsive efficiency greater than 90%. [35] Furthermore, they can accelerate and maneuver far better than any man-made boat or submarine, and produce less noise and water disturbance. Therefore, many researchers studying underwater robots would like to copy this type of locomotion. [36] Notable examples are the Essex University Computer Science Robotic Fish G9, [37] and the Robot Tuna built by the Institute of Field Robotics, to analyze and mathematically model thunniform motion. [38] The Aqua Penguin, [39] designed and built by Festo of Germany, copies the streamlined shape and propulsion by front "flippers" of penguins. Festo have also built the Aqua Ray and Aqua Jelly, which emulate the locomotion of manta ray, and jellyfish, respectively.

Robotic Fish: iSplash-II ISplash Robotic Fish.jpg
Robotic Fish: iSplash-II

In 2014, iSplash-II was developed by PhD student Richard James Clapham and Prof. Huosheng Hu at Essex University. It was the first robotic fish capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. [40] This build attained swimming speeds of 11.6BL/s (i.e. 3.7 m/s). [41] The first build, iSplash-I (2014) was the first robotic platform to apply a full-body length carangiform swimming motion which was found to increase swimming speed by 27% over the traditional approach of a posterior confined waveform. [42]

Morphological classification

Modular

Honda Asimo: A Humanoid robot HONDA ASIMO.jpg
Honda Asimo: A Humanoid robot

The modular robots are typically capable of performing several tasks and are specifically useful for search and rescue or exploratory missions. Some of the featured robots in this category include a salamander inspired robot developed at EPFL that can walk and swim, [43] a snake inspired robot developed at Carnegie-Mellon University that has four different modes of terrestrial locomotion, [20] and a cockroach inspired robot can run and climb on a variety of complex terrain. [14]

Humanoid

Humanoid robots are robots that look human-like or are inspired by the human form. There are many different types of humanoid robots for applications such as personal assistance, reception, work at industries, or companionship. These type of robots are used for research purposes as well and were originally developed to build better orthosis and prosthesis for human beings. Petman is one of the first and most advanced humanoid robots developed at Boston Dynamics. Some of the humanoid robots such as Honda Asimo are over actuated. [44] On the other hand, there are some humanoid robots like the robot developed at Cornell University that do not have any actuators and walk passively descending a shallow slope. [45]

Swarming

The collective behavior of animals has been of interest to researchers for several years. Ants can make structures like rafts to survive on the rivers. Fish can sense their environment more effectively in large groups. Swarm robotics is a fairly new field and the goal is to make robots that can work together and transfer the data, make structures as a group, etc. [46]

Soft

Soft robots [47] are robots composed entirely of soft materials and moved through pneumatic pressure, similar to an octopus or starfish. Such robots are flexible enough to move in very limited spaces (such as in the human body). The first multigait soft robots was developed in 2011 [48] and the first fully integrated, independent soft robot (with soft batteries and control systems) was developed in 2015. [49]

See also

Related Research Articles

<span class="mw-page-title-main">Biomimetics</span> Imitation of biological systems for the solving of human problems

Biomimetics or biomimicry is the emulation of the models, systems, and elements of nature for the purpose of solving complex human problems. The terms "biomimetics" and "biomimicry" are derived from Ancient Greek: βίος (bios), life, and μίμησις (mīmēsis), imitation, from μιμεῖσθαι (mīmeisthai), to imitate, from μῖμος (mimos), actor. A closely related field is bionics.

<span class="mw-page-title-main">Rectilinear locomotion</span> Mode of locomotion associated with snakes

Rectilinear locomotion or rectilinear progression is a mode of locomotion most often associated with snakes. In particular, it is associated with heavy-bodied species such as terrestrial African adders, pythons and boas; however, most snakes are capable of it. It is one of at least five forms of locomotion used by snakes, the others being lateral undulation, sidewinding, concertina movement, and slide-pushing. Unlike all other modes of snake locomotion, which include the snake bending its body, the snake flexes its body only when turning in rectilinear locomotion.

<span class="mw-page-title-main">Animal locomotion</span> Self-propulsion by an animal

Animal locomotion, in ethology, 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.

<span class="mw-page-title-main">Fish locomotion</span> Ways that fish move around

Fish locomotion is the various types of animal locomotion used by fish, principally by swimming. This is achieved in different groups of fish by a variety of mechanisms of propulsion, most often by wave-like lateral flexions of the fish's body and tail in the water, and in various specialised fish by motions of the fins. The major forms of locomotion in fish are:

<span class="mw-page-title-main">Synthetic setae</span> Artificial dry adhesives

Synthetic setae emulate the setae found on the toes of a gecko and scientific research in this area is driven towards the development of dry adhesives. Geckos have no difficulty mastering vertical walls and are apparently capable of adhering themselves to just about any surface. The five-toed feet of a gecko are covered with elastic hairs called setae and the ends of these hairs are split into nanoscale structures called spatulae. The sheer abundance and proximity to the surface of these spatulae make it sufficient for van der Waals forces alone to provide the required adhesive strength. Following the discovery of the gecko's adhesion mechanism in 2002, which is based on van der Waals forces, biomimetic adhesives have become the topic of a major research effort. These developments are poised to yield families of novel adhesive materials with superior properties which are likely to find uses in industries ranging from defense and nanotechnology to healthcare and sport.

The zero moment point is a concept related to the dynamics and control of legged locomotion, e.g., for humanoid or quadrupedal robots. It specifies the point with respect to which reaction forces at the contacts between the feet and the ground do not produce any moment in the horizontal direction, i.e., the point where the sum of horizontal inertia and gravity forces is zero. The concept assumes the contact area is planar and has sufficiently high friction to keep the feet from sliding.

<span class="mw-page-title-main">Metin Sitti</span>

Metin Sitti is the Director of the Physical Intelligence Department at the Max Planck Institute for Intelligent Systems in Stuttgart, which he founded in 2014. He is also a Professor in the Department of Information Technology and Electrical Engineering at ETH Zurich, a Professor at the School of Medicine and College of Engineering at Koç University and co-founder of Setex Technologies Inc. based in Pittsburgh, USA.

Shigeo Hirose is a pioneer of robotics technology and a professor at the Tokyo Institute of Technology.

<span class="mw-page-title-main">Legged robot</span> Type of mobile robot

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.

<span class="mw-page-title-main">Rhex</span>

RHex is an autonomous robot design, based on hexapod with compliant legs and one actuator per leg. A number of US universities have participated, with funding grants also coming from DARPA.

Whegs are mechanisms for robot locomotion. Whegs use a strategy of locomotion that combines the simplicity of the wheel with the obstacle-clearing advantages of the foot.

<span class="mw-page-title-main">Robotics</span> Design, construction, use, and application of robots

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

<span class="mw-page-title-main">Tactile sensor</span>

A tactile sensor is a device that measures information arising from physical interaction with its environment. Tactile sensors are generally modeled after the biological sense of cutaneous touch which is capable of detecting stimuli resulting from mechanical stimulation, temperature, and pain. Tactile sensors are used in robotics, computer hardware and security systems. A common application of tactile sensors is in touchscreen devices on mobile phones and computing.

<span class="mw-page-title-main">LAURON</span>

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.

<span class="mw-page-title-main">Soft robotics</span> Subfield of robotics

Soft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of compliant materials, instead of rigid links. In contrast to rigid-bodied robots built from metals, ceramics and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans.

<span class="mw-page-title-main">Robot fish</span> Robot designed to move like a living fish

A robot fish is a type of bionic robot that has the shape and locomotion of a living fish. Most robot fish are designed to emulate living fish which use body-caudal fin (BCF) propulsion, and can be divided into three categories: single joint (SJ), multi-joint (MJ) and smart material-based "soft-body" design.

<span class="mw-page-title-main">Auke Ijspeert</span> Swiss-Dutch roboticist and neuroscientist

Auke Jan Ijspeert is a Swiss-Dutch roboticist and neuroscientist. He is a professor of biorobotics in the Institute of Bioengineering at EPFL, École Polytechnique Fédérale de Lausanne, and the head of the Biorobotics Laboratory at the School of Engineering.

<span class="mw-page-title-main">Elena García Armada</span> Spanish engineer

Elena Garcia Armada is a Spanish researcher, roboticist and business founder who has conducted research on prosthetic exoskeletons to aid people in walking.

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