Bio-Inspired Robotics
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Traversing Tight Tunnels—Implementing an Adaptive Concertina Gait in a Biomimetic Snake Robot Henry C
Earth and Space 2018 158 Traversing Tight Tunnels—Implementing an Adaptive Concertina Gait in a Biomimetic Snake Robot Henry C. Astley1 1Biomimicry Research and Innovation Center, Dept. of Biology and Polymer Science, Univ. of Akron, 235 Carroll St., Akron, OH 44325-3908. E-mail: [email protected] ABSTRACT Snakes move through cluttered habitats and tight spaces with extraordinary ease, and consequently snake robots are a popular design for such situations. The remarkable locomotor performance of snakes is due in part to their diversity of locomotor modes for addressing a range of environmental challenges. Concertina locomotion consists of alternating periods of static anchoring and movement along the snake’s body, and is used to negotiate narrow spaces such as tunnels or bare branches. However, concertina locomotion has rarely been implemented in snake robots. In this paper, the anchor formation process in live snakes during concertina locomotion is quantified and used to implement concertina locomotion in a snake robot, with automatic detection of the width of the tunnel walls to modulate the waveform. This allows effective concertina locomotion in tunnels of unknown width, without prior knowledge of tunnel geometry, expanding the range of gaits in snake robots. INTRODUCTION The elongate, limbless body plan is extremely common throughout nature, in both vertebrate and invertebrates alike (Pechenik, J. A. 2005; Pough, F. H. et al. 2002), and has evolved independently numerous times (Gans, C 1975). Indeed, within lizards (Order Squamata) alone there are over two dozen independent evolutions of limblessness or functional limblessness (Wiens, J. J. et al. 2006). Snakes are by far the most successful limbless taxon, with a near-global distribution, nearly 3000 species, and a wide range of ecological niches and habitats (Pough, F. -
Introduction to 2D-Animation Working Practice
Prelims-K52054.qxd 2/6/07 5:18 PM Page i Character Animation: 2D Skills for Better 3D This page intentionally left blank Prelims-K52054.qxd 2/6/07 5:18 PM Page iii Character Animation: 2D Skills for Better 3D Second edition Steve Roberts AMSTERDAM • BOSTON • HEIDELBERG • LONDON • NEW YORK • OXFORD PARIS • SAN DIEGO • SAN FRANCISCO • SINGAPORE • SYDNEY • TOKYO Focal Press is an imprint of Elsevier Prelims-K52054.qxd 2/6/07 5:18 PM Page iv This eBook does not include ancillary media that was packaged with the printed version of the book. Focal Press is an imprint of Elsevier Linacre House, Jordan Hill, Oxford OX2 8DP, UK 30 Corporate Drive, Suite 400, Burlington, MA 01803, USA First published 2004 Second edition 2007 Copyright © 2007, Steve Roberts. Published by Elsevier Ltd. All rights reserved The right of Steve Roberts to be identified as the author of this work has been asserted in accordance with the Copyright, Designs and Patents Act 1988 No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means electronic, mechanical, photocopying, recording or otherwise without the prior written permission of the publisher Permissions may be sought directly from Elsevier’s Science & Technology Rights Department in Oxford, UK: phone (ϩ44) (0) 1865 843830; fax (ϩ44) (0) 1865 853333; e-mail: [email protected]. Alternatively you can submit your request online by visiting the Elsevier web site at http://elsevier.com/locate/permissions, and selecting Obtaining permission to use Elsevier material Notice No responsibility is assumed by the publisher for any injury and/or damage to persons or property as a matter of products liability, negligence or otherwise, or from any use or operation of any methods, products, instructions or idead contained in the material herein. -
Slithering Locomotion
SLITHERING LOCOMOTION DAVID L. HU() AND MICHAEL SHELLEY∗∗ Abstract. Limbless terrestrial animals propel themselves by sliding their bellies along the ground. Although the study of dry solid-solid friction is a classical subject, the mechanisms underlying friction-based limbless propulsion have received little attention. We review and expand upon our previous work on the locomotion of snakes, who are expert sliders. We show that snakes use two principal mechanisms to slither on flat surfaces. First, their bellies are covered with scales that catch upon ground asperities, providing frictional anisotropy. Second, they are able to lift parts of their body slightly off the ground when moving. This reduces undesired frictional drag and applies greater pressure to the parts of the belly that are pushing the snake forwards. We review a theoretical framework that may be adapted by future investigators to understand other kinds of limbless locomotion. Key words. Snakes, friction, locomotion AMS(MOS) subject classifications. Primary 76Zxx 1. Introduction. Animal locomotion is as diverse as animal form. Swimming, flying and walking have received much attention [1, 9]withthe latter being the most commonly studied means for moving on land (Fig. 1). Comparatively little attention has been paid to limbless locomotion on land, which necessarily relies upon sliding. Sliding is physically distinct from pushing against a fluid and understanding it as a form of locomotion presents new challenges, as we present in this review. Terrestrial limbless animals are rare. Those that are multicellular include worms, snails and snakes, and account for less than 2% of the 1.8 million named species (Fig. -
The Mechanics of Slithering Locomotion
The mechanics of slithering locomotion David L. Hua,b,1, Jasmine Nirodya, Terri Scotta, and Michael J. Shelleya aApplied Mathematics Laboratory, Courant Institute of Mathematical Sciences, New York University, New York, NY 10003; and bDepartments of Mechanical Engineering and Biology, Georgia Institute of Technology, Atlanta, GA 30332 Edited by Charles S. Peskin, New York University, New York, NY, and approved April 22, 2009 (received for review December 12, 2008) In this experimental and theoretical study, we investigate the the sum of frictional forces per unit length, ffric, and internal slithering of snakes on flat surfaces. Previous studies of slithering forces, fint, generated by the snakes. That is, have rested on the assumption that snakes slither by pushing laterally against rocks and branches. In this study, we develop a X¨ ϭ ffric ϩ fint , [1] theoretical model for slithering locomotion by observing snake ¨ motion kinematics and experimentally measuring the friction co- where X is the acceleration at each point along the snake’s body. efficients of snakeskin. Our predictions of body speed show good To avoid complex issues of muscle and tissue modeling, fint is agreement with observations, demonstrating that snake propul- determined to be that necessary for the model snake to produce sion on flat ground, and possibly in general, relies critically on the the observed shape kinematics. We use a sliding friction law in k frictional anisotropy of their scales. We have also highlighted the which the friction force per unit length is f ϭϪkguˆ, where importance of weight distribution in lateral undulation, previously is the sliding friction coefficient, uˆ ϭ u/u is the velocity difficult to visualize and hence assumed uniform. -
Stable Structural Color Patterns Displayed on Transparent Insect Wings
Stable structural color patterns displayed on transparent insect wings Ekaterina Shevtsovaa,1, Christer Hanssona,b,1, Daniel H. Janzenc,1, and Jostein Kjærandsend,1 aDepartment of Biology, Lund University, Sölvegatan 35, SE-22362 Lund, Sweden; bScientific Associate of the Entomology Department, Natural History Museum, London SW7 5BD, United Kingdom; cDepartment of Biology, University of Pennsylvania, Philadelphia, PA 19104-6018; and dDepartment of Biology, Museum of Zoology, Lund University, Helgonavägen 3, SE-22362 Lund, Sweden Contributed by Daniel H. Janzen, November 24, 2010 (sent for review October 5, 2010) Color patterns play central roles in the behavior of insects, and are and F). In laboratory conditions most wings are studied against a important traits for taxonomic studies. Here we report striking and white background (Fig. 1 G, H, and J), or the wings are embedded stable structural color patterns—wing interference patterns (WIPs) in a medium with a refractive index close to that of chitin (e.g., —in the transparent wings of small Hymenoptera and Diptera, ref. 19). In both cases the color reflections will be faint or in- patterns that have been largely overlooked by biologists. These ex- visible. tremely thin wings reflect vivid color patterns caused by thin film Insects are an exceedingly diverse and ancient group and interference. The visibility of these patterns is affected by the way their signal-receiver architecture of thin membranous wings the insects display their wings against various backgrounds with and color vision was apparently in place before their huge radia- different light properties. The specific color sequence displayed tion (20–22). The evolution of functional wings (Pterygota) that lacks pure red and matches the color vision of most insects, strongly can be freely operated in multidirections (Neoptera), coupled suggesting that the biological significance of WIPs lies in visual with small body size, has long been viewed as associated with their signaling. -
Consequences of Evolutionary Transitions in Changing Photic Environments
bs_bs_banner Austral Entomology (2017) 56,23–46 Review Consequences of evolutionary transitions in changing photic environments Simon M Tierney,1* Markus Friedrich,2,3 William F Humphreys,1,4,5 Therésa M Jones,6 Eric J Warrant7 and William T Wcislo8 1School of Biological Sciences, The University of Adelaide, North Terrace, Adelaide, SA 5005, Australia. 2Department of Biological Sciences, Wayne State University, 5047 Gullen Mall, Detroit, MI 48202, USA. 3Department of Anatomy and Cell Biology, Wayne State University, School of Medicine, 540 East Canfield Avenue, Detroit, MI 48201, USA. 4Terrestrial Zoology, Western Australian Museum, Locked Bag 49, Welshpool DC, WA 6986, Australia. 5School of Animal Biology, University of Western Australia, Nedlands, WA 6907, Australia. 6Department of Zoology, The University of Melbourne, Melbourne, Vic. 3010, Australia. 7Department of Biology, Lund University, Sölvegatan 35, S-22362 Lund, Sweden. 8Smithsonian Tropical Research Institute, PO Box 0843-03092, Balboa, Ancón, Republic of Panamá. Abstract Light represents one of the most reliable environmental cues in the biological world. In this review we focus on the evolutionary consequences to changes in organismal photic environments, with a specific focus on the class Insecta. Particular emphasis is placed on transitional forms that can be used to track the evolution from (1) diurnal to nocturnal (dim-light) or (2) surface to subterranean (aphotic) environments, as well as (3) the ecological encroachment of anthropomorphic light on nocturnal habitats (artificial light at night). We explore the influence of the light environment in an integrated manner, highlighting the connections between phenotypic adaptations (behaviour, morphology, neurology and endocrinology), molecular genetics and their combined influence on organismal fitness. -
CNN-Based Genetic Algorithm
International Journal of Computational Intelligence Systems, Vol.2, No. 2 (June, 2009), 124-131 Cellular Neural Networks-Based Genetic Algorithm for Optimizing the Behavior of an Unstructured Robot Alireza Fasih Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt Klagenfurt, Austria E-mail: [email protected] Jean Chamberlain Chedjou Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt E-mail: [email protected] Kyandoghere Kyamakya Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt E-mail: [email protected] Abstract A new learning algorithm for advanced robot locomotion is presented in this paper. This method involves both Cellular Neural Networks (CNN) technology and an evolutionary process based on genetic algorithm (GA) for a learning process. Learning is formulated as an optimization problem. CNN Templates are derived by GA after an optimization process. Through these templates the CNN computation platform generates a specific wave leading to the best motion of a walker robot. It is demonstrated that due to the new method presented in this paper an irregular and even a disjointed walker robot can successfully move with the highest performance. Keywords: Cellular Neural Networks, Robot locomotion, Simulation, Genetic Algorithms. 1. Introduction of animal walking motion with the aim of optimizing the energy consumption [2-4]. It is well-known that the Nowadays, some of the main goals of robotics science, walking motion of animals is of a stereotype. In a large mechatronics and artificial intelligence lie in designing variety of animals a central neural controller does mechanisms close to or mimicking as good as possible organize/coordinate the motion. -
Locomotion of Reptiles" Will Be of Interest to a Wide Range of Readers
REVIEW A RTICLES Editorial note. We are trying to introduce a "new look" to the BHS Bulletin, and one of our plans is to commission articles by well-known zoologists summarising recent advances in their area of expertise, as they relate to herpetology. We are particularly pleased that Professor McNeill Alexander of Leeds University agreed to write the first of these. We hope that this masterly summary of "Locomotion of Reptiles" will be of interest to a wide range of readers. Roger Meek and Roger Avery, Co-Editors. Locomotion of Reptiles R. McNEILL ALEXANDER Institute for Integrative and Comparative Biology, University of Leeds, Leeds LS2 9JT, UK. [email protected] ABSTRACT – Reptiles run, crawl, climb, jump, glide and swim. Exceptional species run on the surface of water or “swim” through dry sand. This paper is a short summary of current knowledge of all these modes of reptilian locomotion. Most of the examples refer to lizards or snakes, but chelonians and crocodilians are discussed briefly. Extinct reptiles are omitted. References are given to scientific papers that provide more detailed information. INTRODUCTION the body and the leg joints much straighter, as in his review is an attempt to explain briefly elephants. The bigger an animal is, the harder it Tthe many different modes of locomotion that is for them to support the weight of the body in a reptiles use. Some of the information it gives lizard-like stance. Imagine two reptiles of exactly has been known for many years, but many of the the same shape, one twice as long as the other. -
Muscular Mechanisms and Kinematics of Rectilinear Locomotion in Boa Constrictors Steven J
© 2018. Published by The Company of Biologists Ltd | Journal of Experimental Biology (2018) 221, jeb166199. doi:10.1242/jeb.166199 RESEARCH ARTICLE Crawling without wiggling: muscular mechanisms and kinematics of rectilinear locomotion in boa constrictors Steven J. Newman and Bruce C. Jayne* ABSTRACT how such animals coordinate the muscle activity and movement A central issue for understanding locomotion of vertebrates is how among all of these serially homologous structures. Within muscle activity and movements of their segmented axial structures are vertebrates, both lampreys and snakes have body segments with coordinated, and snakes have a longitudinal uniformity of body size and shape that are relatively uniform along most of their length, segments and diverse locomotor behaviors that are well suited for and the absence of appendages provides a somewhat simplified studying the neural control of rhythmic axial movements. Unlike all body plan that makes both of these groups well suited for studying other major modes of snake locomotion, rectilinear locomotion does the neural control of rhythmic axial movements (Cohen, 1988). not involve axial bending, and the mechanisms of propulsion and Furthermore, snakes use different modes of locomotion in a variety modulating speed are not well understood. We integrated of environments, which facilitates investigating the diversity and electromyograms and kinematics of boa constrictors to test plasticity of axial motor patterns. Lissmann’s decades-old hypotheses of activity of the Most previous studies recognize at least four major modes of costocutaneous superior (CCS) and inferior (CCI) muscles and the terrestrial snake locomotion (Mosauer, 1932; Gray, 1968; Gans, intrinsic cutaneous interscutalis (IS) muscle during rectilinear 1974; Jayne, 1986; Cundall, 1987), but rectilinear is the only one of locomotion. -
Alexander 2013 Principles-Of-Animal-Locomotion.Pdf
.................................................... Principles of Animal Locomotion Principles of Animal Locomotion ..................................................... R. McNeill Alexander PRINCETON UNIVERSITY PRESS PRINCETON AND OXFORD Copyright © 2003 by Princeton University Press Published by Princeton University Press, 41 William Street, Princeton, New Jersey 08540 In the United Kingdom: Princeton University Press, 3 Market Place, Woodstock, Oxfordshire OX20 1SY All Rights Reserved Second printing, and first paperback printing, 2006 Paperback ISBN-13: 978-0-691-12634-0 Paperback ISBN-10: 0-691-12634-8 The Library of Congress has cataloged the cloth edition of this book as follows Alexander, R. McNeill. Principles of animal locomotion / R. McNeill Alexander. p. cm. Includes bibliographical references (p. ). ISBN 0-691-08678-8 (alk. paper) 1. Animal locomotion. I. Title. QP301.A2963 2002 591.47′9—dc21 2002016904 British Library Cataloging-in-Publication Data is available This book has been composed in Galliard and Bulmer Printed on acid-free paper. ∞ pup.princeton.edu Printed in the United States of America 1098765432 Contents ............................................................... PREFACE ix Chapter 1. The Best Way to Travel 1 1.1. Fitness 1 1.2. Speed 2 1.3. Acceleration and Maneuverability 2 1.4. Endurance 4 1.5. Economy of Energy 7 1.6. Stability 8 1.7. Compromises 9 1.8. Constraints 9 1.9. Optimization Theory 10 1.10. Gaits 12 Chapter 2. Muscle, the Motor 15 2.1. How Muscles Exert Force 15 2.2. Shortening and Lengthening Muscle 22 2.3. Power Output of Muscles 26 2.4. Pennation Patterns and Moment Arms 28 2.5. Power Consumption 31 2.6. Some Other Types of Muscle 34 Chapter 3. -
Biological System Models Reproducing Snakes’ Musculoskeletal System
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan Biological System Models Reproducing Snakes’ Musculoskeletal System Kousuke Inoue, Kaita Nakamura, Masatoshi Suzuki, Yoshikazu Mori, Yasuhiro Fukuoka and Naoji Shiroma Abstract— Snakes are very unique animals that have dis- including the interaction in order to elucidate the mechanism tinguished motor function adaptable to the most diverse en- of emerging animals’ adaptive motor functions. vironments in terrestrial animals regardless of their simple cord-shaped body. Revealing the mechanism underlying this B. Previous works on snakes’ locomotion mechanisms distinct locomotion pattern, which is fundamentally different from walking, is signifficant not only in biolgical field but The researches on snakes in biology have been conducted also for applications in engineering firld. However, it has mainly on taxonomy, anatomy and snake poison and there been difficult to clarify this adaptive function, emerging from are few researches on snake locomotion until now. In lo- dynamic interaction between body, brain and environment, comotion studies [1]-[15], analytical discussions have been by previous scientific methodologies based on reductionism, carried out based on kinematics recording with respect to where understanding of the total system is approached by analyzing specific individual elements. In this research, we aim specific locomotion modes or EMG recording with a few at revealing the mechanisms underlying this adaptability by muscles that are said to be dominant for locomotion. For the use of the constructive methodology, in which biological example, Jayne [10] records EMG with the three dominant system models reflecting biological knowledge is used as a tool muscles with lateral undulation locomotion in terrestrial and for analysis of the total system. -
Bipedal Locomotion up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) Beijing, China, November 6-9, 2018 Bipedal Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods Jonathan R. Gosyne1, Christian M. Hubicki2, Xiaobin Xiong3, Aaron D. Ames4 and Daniel I. Goldman5 Abstract— Bipedal robotic locomotion in granular media (a) presents a unique set of challenges at the intersection of granular physics and robotic locomotion. In this paper, we perform a systematic experimental study in which biped robotic gaits for traversing a sandy slope are empirically designed using Zero Moment Point (ZMP) methods. We are able to implement gaits that allow our 7 degree-of-freedom planar walking robot to ascend slopes with inclines up to 10◦. Firstly, we identify a given set of kinematic parameters that meet the ZMP stability (b) criterion for uphill walking at a given angle. We then find that further relating the step lengths and center of mass heights to specific slope angles through an interpolated fit allows for (c) significantly improved success rates when ascending a sandy slope. Our results provide increased insight into the design, sensitivity and robustness of gaits on granular material, and the kinematic changes necessary for stable locomotion on complex media. I. INTRODUCTION (d) Enabling humanoid machines to walk wherever humans can go is an ongoing robotics challenge. This challenge is es- pecially apparent when walking on the complex and dynamic terrain present in the natural world, such as a sand dune – a sloped surface of granular material. Every footfall will sink into the non-rigid terrain exhibiting variable dynamics with respect to time and space.