Abstract:
:The complex motion abilities of the Octopus vulgaris have been an intriguing research topic for biologists and roboticists alike. Various studies have been conducted on the underlying control architectures employed by these high dimensional biological organisms. Researchers have attempted to replicate these architectures on robotic systems. Contrary to previous approaches, this study focuses on a robotic system, which is only morphologically similar to the Octopus vulgaris, and how it would behave under different control policies. This sheds light on the underlying optimality principles that these biological systems employ. Open loop control policies are obtained through a trajectory optimization method on a learned forward dynamic model. The motion patterns emerging from variations in morphology and environment were then derived to study the role of the body and environment. Results show that for the specific case of dynamic reaching with a soft appendage, the invariance in motion profile is a fundamental constraint imposed by the morphology and environment, independent from the controller. This suggests how morphological design can simplify stable control even for highly dimensional nonlinear dynamical systems and can provide insights into design of new soft robotic mechanisms.
journal_name
Bioinspir Biomimjournal_title
Bioinspiration & biomimeticsauthors
Thuruthel TG,Falotico E,Renda F,Flash T,Laschi Cdoi
10.1088/1748-3190/ab1621subject
Has Abstractpub_date
2019-04-24 00:00:00pages
034001issue
3eissn
1748-3182issn
1748-3190journal_volume
14pub_type
杂志文章abstract::Aiming to produce bioinspired impact and puncture resistant materials, the mesocarp of the Brazil nut (Bertholletia excelsa) was characterized. The mesocarp composition was investigated by chemical extraction and its microstructure was analyzed by optical microscopy and microtomography (microCT). A compression test ev...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab2298
更新日期:2019-07-03 00:00:00
abstract::Despite the increased interest in exoskeleton research in the last decades, not much progress has been made on the successful reduction of user effort. In humans, biarticular elements have been identified as one of the reasons for the energy economy of locomotion. This document gives an extensive literature overview c...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章,评审
doi:10.1088/1748-3190/aa806e
更新日期:2017-11-08 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::Unidirectional composites inspired from biological materials such as nacre are composed of stiff platelets arranged in a staggered manner within a soft matrix. Elaborate analyses have been conducted on the aforementioned composites and they are found to have excellent mechanical properties like stiffness, strength and...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aa9945
更新日期:2017-12-22 00:00:00
abstract::Previous research on the flexible structure of flapping wings has shown an improved propulsion performance in comparison to rigid wings. However, not much is known about this function in terms of power efficiency modification for flapping wing energy devices. In order to study the role of the flexible wing deformation...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/8/3/036011
更新日期:2013-09-01 00:00:00
abstract::Electric fish are privileged animals for bio-inspiring man-built autonomous systems since they have a multimodal sense that allows underwater navigation, object classification and intraspecific communication. Although there are taxon dependent variations adapted to different environments, this multimodal system can be...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章,评审
doi:10.1088/1748-3190/12/2/025004
更新日期:2017-02-02 00:00:00
abstract::This paper presents the stability analysis of the leading edge spar of a flapping wing unmanned air vehicle with a compliant spine inserted in it. The compliant spine is a mechanism that was designed to be flexible during the upstroke and stiff during the downstroke. Inserting a variable stiffness mechanism into the l...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/10/6/065003
更新日期:2015-10-26 00:00:00
abstract::We propose to design a small-size transmission-coupled antenna array, and corresponding radiation pattern, having high performance inspired by the female Ormia ochracea's coupled ears. For reproduction purposes, the female Ormia is able to locate male crickets' call accurately despite the small distance between its ea...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/5/4/046003
更新日期:2010-12-01 00:00:00
abstract::Biological surfaces are multifunctional interfaces between the organisms and their environment. Properties such as the wettability and adhesion of particles are linked to the micro- and nanostructures of their surfaces. In this study, we used plant and artificial surfaces covered with wax crystals to develop a low-cos...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/3/4/046002
更新日期:2008-12-01 00:00:00
abstract::This paper details the development of a nano-scale (>15 cm) robotic samara, or winged seed. The design of prototypes inspired by naturally occurring geometries is presented along with a detailed experimental process which elucidates similarities between mechanical and robotic samara flight dynamics. The helical trajec...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/5/4/045009
更新日期:2010-12-01 00:00:00
abstract::Numerical simulations are conducted to investigate the influences of a solid wall on the self-propelled swimming of a flexible plunging foil. It is found that the presence of a solid wall enhances the cruising speed, with the cost of increasing input power. Rigid foil can achieve high percentage increase in cruising s...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/11/4/046005
更新日期:2016-07-05 00:00:00
abstract::Puncturing blood vessels during percutaneous intervention in minimally invasive brain surgery can be a life threatening complication. Embedding a forward looking sensor in a rigid needle has been proposed to tackle this problem but, when using a rigid needle, the procedure needs to be interrupted and the needle extrac...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aaa6f4
更新日期:2018-02-16 00:00:00
abstract::We analyze the effects of morphology and wing kinematics on the performance of hovering flight. We present a simplified dynamical model with body translational and rotational degrees of freedom that incorporates the flapping, long-axis wing rotation and folding of the wing. To validate our simulation, we compare our r...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aaea56
更新日期:2018-11-09 00:00:00
abstract::Swimming fish and flying insects use the flapping of fins and wings to generate thrust. In contrast, microscopic organisms typically deform their appendages in a wavelike fashion. Since a flapping motion with two degrees of freedom is able, in theory, to produce net forces from a time-periodic actuation at all Reynold...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/9/1/016001
更新日期:2014-03-01 00:00:00
abstract::Most insects with smooth or hairy adhesive pads have very little problems in attaching to smooth substrates. A careful selection of surface roughness, however, can effectively limit the contact area of the adhesive organs with the surface. In comparison to conventional toxin-based insect repelling methods, biologicall...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aad061
更新日期:2018-07-31 00:00:00
abstract::This paper provides an update on the neural control of bipedal walking in relation to bioinspired models and robots. It is argued that most current models or robots are based on the construct of a symmetrical central pattern generator (CPG). However, new evidence suggests that CPG functioning is basically asymmetrical...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aada54
更新日期:2018-09-04 00:00:00
abstract::This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/9/3/036018
更新日期:2014-09-01 00:00:00
abstract::In this work, we exploit a computational model of human pre-attentive vision to guide the descent of a spacecraft on extraterrestrial bodies. Providing the spacecraft with high degrees of autonomy is a challenge for future space missions. Up to present, major effort in this research field has been concentrated in haza...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/7/2/025007
更新日期:2012-06-01 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::Nano-structured colorful zinc oxide (ZnO) replicas were produced using the wings of the Ideopsis similis butterfly as templates. The ZnO replicas we obtained exhibit iridescence, which was clearly observed under an optical microscope (OM). Field emission scanning electron microscope analysis shows that all the microst...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/1/3/003
更新日期:2006-09-01 00:00:00
abstract::In a lower extremity musculoskeletal leg, the actuation kinematics define the interaction of the actuators with each other and the environment. Design of such a kinematic chain is challenging due to the existence of the redundant biarticular actuators which simultaneously act on two joints, generating a parallel mecha...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab3896
更新日期:2019-09-06 00:00:00
abstract::This study presents the replication of a color-causing nanostructure based on the upper laminae of numerous cover scales of Morpho peleides butterfly wings and obtained solely by imprinting their upper-wing surfaces. Our results indicate that a simple casting technique using a novel integrated release agent can obtain...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/11/1/016006
更新日期:2016-02-02 00:00:00
abstract::Over many decades the biological surfaces of aquatic swimmers have been studied for their potential as drag reducing surfaces. The hydrodynamic benefit of riblets, or grooves embedded parallel to the flow which appear on surfaces such as shark skin, have been well documented. However the skin of dolphins is embedded w...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aa5770
更新日期:2017-02-10 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::In addition to their visual sense, weakly electric fish use active electrolocation to detect and analyse objects in their nearby environment. Their ability to generate and sense electric fields combined with scanning-like swimming movements are intended to extract further parameters like the size, shape and material p...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aae23f
更新日期:2018-10-16 00:00:00
abstract::Natural fish have evolved with an excellent swimming performance after millions of years. Based on the flexible features of the pectoral fin, this paper focuses on the kinematics and hydrodynamics of the fin when fish are swimming stably in still water in labriform mode. The locomotion mechanism based on the morpholog...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab550e
更新日期:2019-12-04 00:00:00
abstract::Randomness is common in biological and artificial systems, resulting either from stochasticity of the environment or noise in organisms or devices themselves. In locomotor control, randomness is typically considered a nuisance. For example, during dynamic walking, randomness in stochastic terrain leads to metastable d...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/abac47
更新日期:2020-08-04 00:00:00
abstract::A woodpecker is known to drum the hard woody surface of a tree at a rate of 18 to 22 times per second with a deceleration of 1200 g, yet with no sign of blackout or brain damage. As a model in nature, a woodpecker is studied to find clues to develop a shock-absorbing system for micromachined devices. Its advanced shoc...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/6/1/016003
更新日期:2011-03-01 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::A neuromechanical simulation of a planar, bipedal walking robot has been developed. It is constructed as a simplified, planar musculoskeletal model of the biomechanics of the human lower body. The controller consists of a dynamic neural network with central pattern generators (CPGs) entrained by force and movement sen...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aa8290
更新日期:2017-10-16 00:00:00