Abstract:
:We have previously suggested a biologically-inspired natural dynamic controller for biped locomotion, which applies torque pulses to the different joints at particular phases of an internal phase variable. The parameters of the controller, including the timing and magnitude of the torque pulses and the dynamics of the phase variable, can be kept constant in open loop or adapted to the environment in closed loop. Here we demonstrate the implementation of this approach to a mono-ped robot and the optimization of the controller parameters to enhance robustness via policy gradient. Policy gradient was applied in simulations rather than the actual robot due to safety and hardware considerations. A grounded action transformation (GAT) was learned and used to facilitate the transfer of the learned policy from simulation to hardware. We demonstrate how GAT improves the match between simulations and experiments and how learning enhances the performance and robustness of the mono-ped robot.
journal_name
Bioinspir Biomimjournal_title
Bioinspiration & biomimeticsauthors
Schallheim I,Zacksenhouse Mdoi
10.1088/1748-3190/ab782asubject
Has Abstractpub_date
2020-03-25 00:00:00pages
036010issue
3eissn
1748-3182issn
1748-3190journal_volume
15pub_type
杂志文章abstract::This paper introduces a novel, bioinspired manipulator for minimally invasive surgery (MIS). The manipulator is entirely composed of soft materials, and it has been designed to provide similar motion capabilities as the octopus's arm in order to reach the surgical target while exploiting its whole length to actively i...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/10/3/035008
更新日期:2015-05-13 00:00:00
abstract::Burst-and-coast swimming performance in fish-like locomotion is studied via two-dimensional numerical simulation. The numerical method used is the collocated finite-volume adaptive Cartesian cut-cell method developed previously. The NACA00xx airfoil shape is used as an equilibrium fish-body form. Swimming in a burst-a...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/4/3/036001
更新日期:2009-09-01 00:00:00
abstract::Bats possess unique flight capabilities enabled by their wing morphology. While the articulated bone structure and flexible membrane constituting the wing are known to play a critical role in aerodynamic performance, the relationship has never been robustly quantified. Characterization of the sensitivity between preci...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab3e2a
更新日期:2019-09-24 00:00:00
abstract::The propulsive dynamics of a flexible undulating foil in a self-propelled swimming configuration near a wall is studied experimentally. Measurements of the swimming speed and the propulsive force are presented, together with image acquisition of the kinematics of the foil and particle image velocimetry (PIV) in its wa...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/10/1/016003
更新日期:2015-01-05 00:00:00
abstract::The clap-and-fling effect, first observed in a number of insects, serves as a lift-enhancing mechanism for bio-inspired flapping wing micro aerial vehicles (MAV). In our comprehensive literature survey, we observe that the effect manifests differently in insects and contemporary MAVs; insects have active control over ...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/ab0477
更新日期:2019-02-27 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::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
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::Polymer nanocomposites render a range of outstanding materials from natural products such as silk, sea shells and bones, to synthesized nanoclay or carbon nanotube reinforced polymer systems. In contrast to the fast expanding interest in this type of material, the fundamental mechanisms of their mixing, phase behavior...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/11/5/055008
更新日期:2016-09-13 00:00:00
abstract::Films of conducting polymers when used as electrodes in an electrolytic solution oxidize and reduce under the flow of anodic and cathodic currents, respectively. The electrochemical reactions induce conformational movements of the chains, generation or destruction of free volume and interchange of ions and solvent wit...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/3/3/035004
更新日期:2008-09-01 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::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::By mimicking naturally occurring superhydrophobic surfaces, scientists can now realize artificial surfaces on which droplets of a few microliters of water are forced to assume an almost spherical shape and an extremely high contact angle. In recent decades, these surfaces have attracted much attention due to their tec...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章,评审
doi:10.1088/1748-3190/11/1/011001
更新日期:2016-02-04 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
abstract::Animals have demonstrated the ability to move through, across and over some of the most daunting environments on earth. This versatility and adaptability stems from their capacity to alter their locomotion dynamics and employ disparate locomotion modalities to suit the terrain at hand. As with modalities such as runni...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/10/2/025005
更新日期:2015-03-26 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::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::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::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::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 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::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::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::It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior knowledge or high-fidelity sensing of the environment. However, during dynamic loc...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3190/aaa2cd
更新日期:2018-02-02 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::Designing bio-inspired, multifunctional organic-inorganic composite materials is one of the most popular current research objectives. Due to the high complexity of biocomposite structures found in nacre and bone, for example, a one-pot scalable and versatile synthesis approach addressing structural key features of bio...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章,评审
doi:10.1088/1748-3190/11/3/035002
更新日期:2016-05-13 00:00:00
abstract::Neuronal stimulation is an intricate part of understanding insect flight behavior and control insect itself. In this study, we investigated the effects of electrical pulses applied to the brain and basalar muscle of the rhinoceros beetle (Trypoxylus dichotomus). To understand specific neuronal stimulation mechanisms, ...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/7/3/036021
更新日期:2012-09-01 00:00:00
abstract::Knowledge of biological sonar systems has revolutionized many aspects of sonar engineering and further advances will benefit from more detailed understanding of their underlying acoustical processes. The anatomically diverse, complex and dynamic heads and ears of bats are known to be important for echolocation althoug...
journal_title:Bioinspiration & biomimetics
pub_type: 杂志文章
doi:10.1088/1748-3182/7/4/046014
更新日期:2012-12-01 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::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