Bioinspiration & Biomimetics最新文献

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.

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.

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.

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.

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.

Human gait simulation plays a crucial role in providing insights into various aspects of locomotion, such as diagnosing injuries and impairments, assessing abnormal gait patterns, and developing assistive and rehabilitation technologies. To achieve more realistic gait simulation results, it's essential to use a comprehensive model that accurately replicates the kinematics and kinetics of human movement. The human skeletal models in OpenSim software provide anatomically accurate and anthropomorphic structures, enabling users to create personalized models that accurately replicate individual human behavior. However, these torque-driven models encounter challenges in stabilizing unactuated degrees of freedom of pelvis tilt during forward dynamic simulations. Adopting a bio-inspired strategy that ensures human balance with a minimized energy expenditure during walking, this paper addresses a gait controller for a torque-deriven human skeletal model to achieve a stable walking. The proposed controller employs a nonlinear model-based approach to calculate a balance-equivalent control torque and utilizes the hip-ankle strategy to distribute this torque across the lower-limb joints during the stance phase. To optimize the parameters of the trajectory tracking controller and the balance distribution coefficients, we used a forward dynamic simulation interface established between MATLAB and OpenSim. The simulation results show that the torque-driven model achieves a natural gait, with joint torques closely aligning with the experimental data. The robustness of the bio-inspired gait controller is also assessed by applying a range of external forces on the skeletal model to investigate its response to disturbances. The robustness analysis demonstrates the quick and effective balance recovery mechanism of the proposed bio-inspired gait controller.

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.

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.

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.

Efficient propulsion has been a central focus of research in the field of biomimetic underwater vehicles. Compared to the prevalent fish-like reciprocating flapping propulsion mode, the sperm-like helical propulsion mode features higher efficiency and superior performance in high-viscosity environments. Based on the previously developed sperm-inspired robot, this paper focuses on its dynamic modeling and depth control research. The helical propulsion performance of the sperm-inspired robot is analyzed by resistance-theory-based force analysis, followed by the application of Kirchhoff rod theory to determine the helical waveform parameters. The dynamic model of the sperm-inspired robot is established using the Kirchhoff equation, and its validity is verified through experiments. To enhance the practical application capability of the sperm-inspired robot, this study develops an active disturbance rejection control depth controller for roll-spin coupling motion based on the constructed dynamics model. The effectiveness of the controller is thoroughly validated through a combination of simulation and experiment. Experimental results demonstrate the excellent depth control ability of the robot, with an average depth error controlled within 0.19 cm. This superior performance lays a foundation for the future application of our robot in underwater operations.