Abstract:
:Biologically inspired robots with inherent softness and body compliance increasingly attract attention in the field of robotics. Aimed at solving existing problems with soft robots, regarding actuation technology and biological principles, this paper presents a soft bio-inspired annelid robot driven by dielectric elastomer actuators (DEAs) that can advance on flat rigid surfaces. The DEA, a kind of soft functional actuator, is designed and fabricated to mimic the axial elongation and differential friction of a single annelid body segment. Several (at least three) DEAs are connected together into a movable multi-segment robot. Bristles are attached at the bottom of some DEAs to achieve differential friction for imitating the setae of annelids. The annelid robot is controlled by periodic square waves, propagating from the posterior to the anterior, which imitate the peristaltic waves of annelids. Controlled by these waves, each DEA, one-by-one from tail to head, anchors to the ground by circumferential distention and pushes the front DEAs forward by axial elongation, enabling the robot to advance. Preliminary tests demonstrate that a 3-segment robot can reach an average speed of 5.3 mm s-1 (1.871 body lengths min-1) on flat rigid surfaces and can functionally mimic the locomotion of annelids. Compared to the existing robots that imitate terrestrial annelids our annelid robot shows advantages in terms of speed and bionics.
journal_name
Bioinspir Biomimjournal_title
Bioinspiration & biomimeticsauthors
Xu L,Chen HQ,Zou J,Dong WT,Gu GY,Zhu LM,Zhu XYdoi
10.1088/1748-3190/aa50a5subject
Has Abstractpub_date
2017-01-31 00:00:00pages
025003issue
2eissn
1748-3182issn
1748-3190journal_volume
12pub_type
杂志文章abstract::The axonemal micro-machinery, the axial skeleton and actuator of cilia and flagella of eukaryotic cells, is able to bend and twist and generates wave trains. We already demonstrated that it can be the template to construct an active trunk robot (Cibert 2013 Bioinspir. Biomim. 8 026006). The work presented in this pape...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/11/5/056019
更新日期:2016-09-29 00:00:00
abstract::Robotic systems are becoming more ubiquitous, whether on land, in the air, or in water. In the aquatic realm, aquatic drones including ROVs (remotely operated vehicles) and AUVs (autonomous underwater vehicles) have opened new opportunities to investigate the ocean depths. However, these technologies have limitations ...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab5a34
更新日期:2020-02-07 00:00:00
abstract::Birds demonstrate that flapping-wing flight (FWF) is a versatile flight mode, compatible with hovering, forward flight and gliding to save energy. This extended flight domain would be especially useful on mini-UAVs. However, design is challenging because aerodynamic efficiency is conditioned by complex movements of th...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/2/4/002
更新日期:2007-12-01 00:00:00
abstract::Burst-and-coast swimming is an intermittent mode of locomotion used by various fish species. The intermittent gait has been associated with certain advantages such as stabilizing the visual field, improved sensing ability, and reduced energy expenditure. We investigate burst-coast swimming in rummy nose tetra fish (He...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/abb521
更新日期:2020-11-07 00:00:00
abstract::Civil structures, such as buildings and bridges, are constantly at risk of failure due to external environmental loads, such as earthquakes or strong winds. To minimize the effects of these loads, active feedback control systems have been proposed but such systems still face numerous challenges which impede their wide...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab033b
更新日期:2019-02-27 00:00:00
abstract::Passive exoskeletons have potential advantages in reducing metabolic energy cost. We consider a passive elastic exoskeleton (peEXO) providing hip flexion moment to assist hip flexors during walking, our goal is to use a biomechanical model to explore the biological mechanics and energetics of the hip joint muscle-tend...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aaeefd
更新日期:2018-12-04 00:00:00
abstract::The pursuit of a high lift force for insect-scale flapping-wing micro aerial vehicles (FMAVs) requires that their artificial wings possess biomimetic wing features which are close to those of their natural counterpart. In this work, we present both fabrication and testing methods for artificial insect wings with biomi...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aa7f16
更新日期:2017-09-26 00:00:00
abstract::Conducting polymer actuators based on polypyrrole are being developed for use in biorobotic fins that are designed to create and control forces like the pectoral fin of the bluegill sunfish (Lepomis macrochirus). It is envisioned that trilayer bending actuators will be used within, and as, the fin's webbing to create ...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章,评审
doi:10.1088/1748-3182/2/2/S02
更新日期:2007-06-01 00:00:00
abstract::In this paper, we study the behavioral response of rats to a robotic rat during multi-rat interaction. Experiments are conducted in an open-field where a robotic rat called WR-5 is put together with three laboratory rats. WR-5 is following one rat (target), while avoiding the other two rats (outside observers) during ...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/10/5/056011
更新日期:2015-09-28 00:00:00
abstract::Structural hierarchy and complex 3D architecture are characteristics of biological photonic designs that are challenging to reproduce in synthetic materials. Top-down lithography allows for designer patterning of arbitrary shapes, but is largely restricted to planar 2D structures. Self-assembly techniques facilitate e...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/8/4/045004
更新日期:2013-12-01 00:00:00
abstract::We have proposed a bio-inspired gait modulation method, by means of which a simulated quadruped model can successfully perform smooth, autonomous gait transitions from a walk to a trot to a gallop, as observed in animals. The model is equipped with a rhythm generator called a central pattern generator (CPG) for each l...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/10/4/046017
更新日期:2015-08-04 00:00:00
abstract::Fiber reinforced elastomeric enclosures (FREEs) are soft pneumatic actuators that can contract and generate forces upon pressurization. Typical engineering applications utilize FREEs in their straight cylindrical configuration and derive actuation displacement and forces from their ends. However, there are several ins...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aab19c
更新日期:2018-04-18 00:00:00
abstract::Bioinspiration-using insights into the function of biological systems for the development of new engineering concepts-is already a successful and rapidly growing field. However, only a small portion of the world's biodiversity has thus far been considered as a potential source for engineering inspiration. This means t...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aac96a
更新日期:2018-07-03 00:00:00
abstract::In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been dev...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/6/4/045005
更新日期:2011-12-01 00:00:00
abstract::We report on the development of a robot's dynamic locomotion based on a template which fits the robot's natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order mod...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/9/4/046004
更新日期:2014-10-07 00:00:00
abstract::It is of interest to exploit the insight from the lateral line system of fish for flow sensing applications. In this paper, a novel fish canal lateral line-inspired pressure difference sensor is proposed by embedding an ionic polymer-metal composite (IPMC) sensor within a canal filled with viscous fluid. Such a sensor...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab2fa8
更新日期:2019-07-29 00:00:00
abstract::It is quite difficult for android robots to replicate the numerous and various types of human facial expressions owing to limitations in terms of space, mechanisms, and materials. This situation could be improved with greater knowledge regarding these expressions and their deformation rules, i.e. by using the biomimet...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aa8f33
更新日期:2017-11-27 00:00:00
abstract::Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled in such robots the ability for operation at multiple stride frequencies using multi-deg...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab295b
更新日期:2019-07-01 00:00:00
abstract::Marvelous vision based dynamic behaviors of insects and birds such as perching, landing, and obstacle avoidance have inspired scientists to propose the idea of time-to-contact, which is defined as the time for a moving observer to contact an object or surface if the current velocity is maintained. Since with only a vi...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aa53c4
更新日期:2017-01-31 00:00:00
abstract::Birds fly in dynamic flight conditions while maintaining aerodynamic efficiency. This agility is in part due to specialized feather systems that function as flow control devices during adverse conditions such as high-angle of attack maneuvers. In this paper, we present an engineered three-dimensional leading-edge devi...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab36ad
更新日期:2019-08-29 00:00:00
abstract::In this study we aim to show how the peltate leaves of Colocasia fallax Schott and Tropaeolum majus L., despite their compact design, achieve a rigid connection between petiole and lamina. We have combined various microscopy techniques and computed tomography (CT) scanning for the analysis of the basic structure of th...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab2411
更新日期:2019-06-20 00:00:00
abstract::Autonomic self-healing materials, where initiation of repair is integral to the material, are being developed for engineering applications. This bio-inspired concept offers the designer an ability to incorporate secondary functional materials capable of counteracting service degradation whilst still achieving the prim...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章,评审
doi:10.1088/1748-3182/2/1/P01
更新日期:2007-03-01 00:00:00
abstract::Flight initiation is fundamental for survival, escape from predators and lifting payload from one place to another in biological fliers and can be broadly classified into jumping and non-jumping takeoffs. During jumping takeoffs, the legs generate most of the initial impulse. Whereas the wings generate most of the for...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aa7f52
更新日期:2017-09-26 00:00:00
abstract::Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This p...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章,评审
doi:10.1088/1748-3190/10/4/041001
更新日期:2015-06-29 00:00:00
abstract::The intrinsic muscular properties of biological muscles are the main source of stabilization during locomotion, and superior biological performance is obtained with low energy costs. Man-made actuators struggle to reach the same energy efficiency seen in biological muscles. Here, we compare muscle properties within a ...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/11/3/036002
更新日期:2016-04-12 00:00:00
abstract::Research in robots that emulate insect flight or micro aerial vehicles (MAV) has gained significant momentum in the past decade owing to the vast number of fields they could be employed in. In this paper, key modeling and control aspects of a flapping wing MAV in hover have been discussed. Models of varying complexity...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aafc3c
更新日期:2019-01-31 00:00:00
abstract::Design computation has profound impact on architectural design methods. This paper explains how computational design enables the development of biomimetic design processes specific to architecture, and how they need to be significantly different from established biomimetic processes in engineering disciplines. The pap...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/7/1/015003
更新日期:2012-03-01 00:00:00
abstract::A fiber optic sensor inspired by the compound eye of the common housefly, Musca domestica, has been developed. The sensor coupled with analog preprocessing hardware has the potential to extract edge information quickly and in parallel. The design is motivated by the parallel nature of the fly's vision system and its d...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/3/2/026003
更新日期:2008-06-01 00:00:00
abstract::The finite element modeling (FEM) space reported here contains the head of a simulated whale based on CT data sets as well as physical measurements of sound-propagation characteristics of actual tissue samples. Simulated sound sources placed inside and outside of an adult male Cuvier's beaked whale (Ziphius cavirostri...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/3/1/016001
更新日期:2008-03-01 00:00:00
abstract::Many kinds of bio-inspired tasks have been tested with swarm robotics and task partitioning is one of the challenging subjects. In nature, it is well known that some colonies of social insects such as honeybees, termites, and ants use task partitioning strategies for their survival. In this paper, we demonstrate an ef...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aa8293
更新日期:2017-10-16 00:00:00