A Biomimetic Climbing Robot Based on the Gecko

1 Introduction The locomotion, sensing, navigation, and adapta- tion capabilities in animals have long inspired humans to emulate them in robots. The purpose of this study was to determine the potential of climbing robots for both ter- restrial and extra-terrestrial explorations. Robots similar to their biological counterparts require extensive sys- tems for power, locomotion, and actuation, with com- putation, sensing, and autonomy. From animal research and current technologies, the possibili…     

Multi-Scale Compliant Foot Designs and Fabrication for Use with a Spider-Inspired Climbing Robot

Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.     

Optimal Gait for Bioinspired Climbing Robots Using Dry Adhesion:A Quasi-Static Investigation

Legged robots relying on dry adhesives for vertical climbing are required to preload their feet against the wall to increase contact surface area and consequently maximize adhesion force. Preloading a foot causes a redistribution of forces in the entire robot, including contact forces between the other feet and the wall. An inappropriate redistribution of these forces can cause irreparable detachment of the robot from the vertical surface. This paper investigates an optimal preloading and detaching strategy that minimizes energy consumption, while retaining safety, during locomotion on vertical surfaces. The gait of a six-legged robot is planned using a quasi-static model that takes into account both the structure of the robot and the characteristics of the adhesive material. The latter was modelled from experimental data collected for this paper. A constrained optimization routine is used, and its output is a sequence of optimal posture and motor torque set-points.     

A Biomimetic Approach to Robot Locomotion in Unstructured and Slippery Environments

While much attention has been given to bio-robotics in recent years, not much of this has been given to the challenging subject of locomotion in slippery conditions. This study begins to rectify this by proposing a biomimetic approach to generating the friction required to give sufficient propulsive force on a slippery substrate. We took inspiration from a successful biological solution-that of applying hair-like structures to the propulsive appendages, similar to the setae found in nereid polychaetes living in muddy habitats. We began by examining the morphology and the mean locomotion parameters of one of the most common nereids: Nereis diversicolor. Following this study, we designed and fabricated a robotic system with appendages imitating the biological shape found in the worm. A flexible control system was developed to allow most of the locomotion parameters observed in the real worm to be applied to the robot. Experiments on three different natural substrates ranging from fine sand to gravel showed     

Locomotion Generation and Motion Library Design for an Anguilliform Robotic Fish

In this paper, modeling, locomotion generation, motion library design and path planning for a real prototype of an Anguilliform robotic fish are presented. The robotic fish consists of four links and three joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints and hydrodynamic forces, Lagrangian formulation is used to obtain the dynamic model of the fish. Using this model, three major locomotion patterns of Anguilliform fish, including forward locomotion, backward locomotion and turning locomotion are investigated. It is found that the fish exhibits different locomotion patterns by giving different reference joint angles, such as adding reversed phase difference, or adding deflections to the original reference angles. The results are validated by both simulations and experiments. Furthermore, the relations among the speed of the fish, angular frequency, undulation amplitude, phase difference, as well as the relationship between the turning radius and deflection angle are investigated. These relations provide an elaborated motion library that can be used for motion planning of the robotic fish.     

An Approach for Adaptive Limbless Locomotion Using a CPG-Based Reflex Mechanism

Animals＇ free movement in natural environments has attracted many researchers to explore control methods for bio-inspired robots. This paper presents a novel reflex mechanism based on a Central Pattern Generator （CPG） for adaptive locomotion of limbless robots. First, inspired by the concept of reflex arc, the reflex mechanism is designed on a connectionist CPG model. Since the CPG model inspired by the spinal cord of lampreys is developed at the neuron level, it provides a possible natural solution for sensory reflex integration. Therefore, sensory neurons that bridge the external stimuli and the CPG model, together with the concept of reflex arc, are utilized for designing the sensory reflex mechanism. Then, a border reflex and a body reflex are further developed and applied on the ends and the middle part of a limbless robot, respectively. Finally, a ball hitting scenario and a corridor passing scenario are designed to verify the proposed method. Results of simulations and on-site experiments show the feasibility and effectiveness of the reflex mechanism in realizing fast response and adaptive limbless locomotion.     

A Bionic Neural Network for Fish-Robot Locomotion

A bionic neural network for fish-robot locomotion is presented. The bionic neural network inspired from fish neural net- work consists of one high level controller and one chain of central pattern generators （CPGs）. Each CPG contains a nonlinear neural Zhang oscillator which shows properties similar to sine-cosine model. Simulation re, suits show that the bionic neural network presents a good performance in controlling the fish-robot to execute various motions such as startup, stop, forward swimming, backward swimming, turn right and turn left.     

A GIM-Based Biomimetic Learning Approach for Motion Generation of a Multi-Joint Robotic Fish

In this paper, we propose a biomimetic learning approach for motion generation of a multi-joint robotic fish. Based on a multi-joint robotic fish model, two basic Carangiform swimming patterns, namely ＂cruise＂ and ＂C sharp turning＂, are extracted as training samples from the observations of real fish swimming. A General Internal Model （GIM）, which is an imitation of Central Pattern Generator （CPG） in nerve systems, is adopted to learn and to regenerate coordinated fish behaviors. By virtue of the universal function approximation ability and the temporal/spatial scalabilities of GIM, the proposed learning approach is able to generate the same or similar fish swimming patterns by tuning two parameters. The learned swimming patterns are implemented on a multi-joint robotic fish in experiments. The experiment results verify the effectiveness of the biomimetic learning approach in generating and modifying locomotion patterns for the robotic fish.     

A Framework for Service Robots in Smart Home: An Efficient Solution for Domestic Healthcare

Purpose

As the elder population grows, the need for domestic healthcare is on the rise. Both robotics and smart environments, including smart homes, provide a promising solution to monitor, interact and keep company to users. However, in real case scenarios, sensors data are not perfect and the environment changes over time, leading to erroneous understanding of the context and inappropriate responses. The purpose of this work is to tackle those challenges in order to improve the autonomy and efficiency of robots in smart environments.

A Biomimetic Study of Discontinuous-Constraint Metamorphic Mechanism for Gecko-Like Robot

Locomotion ability, efficiency and reliability are key targets for a good robot. The linkage mechanism for robot locomotion is a discontinuous-constraint metamorphic mechanism. Here we set up equations to present the discontinuous-constraint, point out that driving and controlling are the key points to improve the performance and efficiency of the linkage mechanism. Inspired by controlling strategy of the motor nervous system in peripheral vertebrae to the locomotion, we draw off motor control and drive strategy.     

苯噻草胺与玉米DNA和狗尾草DNA作用的研究

提出了苯噻草胺用于旱地除草的新除草机理,BTMPA嵌入旱地植物DNA双螺旋中,使DNA变性而抑制DNA复制,造成狗尾草等杂草细胞不能分裂,从而杀除杂草。用苯噻草胺旱地除草时,在植物体内的有效浓度为5.4×10-8mol/L-5.4×10-5mol/L,最宜施药期为芽期至三叶期,最宜施药温度为20℃-30℃。     

A New Mechanism for the Regulation of Stomatal Aperture Size in Intact Leaves (Accumulation of Mesophyll-Derived Sucrose in the Guard-Cell Wall of Vicia faba)

At various times after pulse-labeling broad bean (Vicia faba L.) leaflets with 14CO2, whole-leaf pieces and rinsed epidermal peels were harvested and subsequently processed for histochemical analysis. Cells dissected from whole leaf retained apoplastic contents, whereas those from rinsed peels contained only symplastic contents. Sucrose (Suc)-specific radioactivity peaked (111 GBq mol-1) in palisade cells at 20 min. In contrast, the 14C content and Sucspecific radioactivity were very low in guard cells for 20 min, implying little CO2 incorporation; both then peaked at 40 min. The guard-cell apoplast had a high maximum Suc-specific radioactivity (204 GBq mol-1) and a high Suc influx rate (0.05 pmol stoma-1 min-1). These and other comparisons implied the presence of (a) multiple Suc pools in mesophyll cells, (b) a localized mesophyll-apoplast region that exchanges with phloem and stomata, and (c) mesophyll-derived Suc in guard-cell walls sufficient to diminish stomatal opening by approximately 3 [mu]m. Factors expected to enhance Suc accumulation in guard-cell walls are (a) high transpiration rate, which closes stomata, and (b) high apoplastic Suc concentration, which is elevated when mesophyll Suc efflux exceeds translocation. Therefore, multiple physiological factors are integrated in the attenuation of stomatal aperture size by this previously unrecognized mechanism.     

Lineage-Specific Tandem Repeats Riding on a Transposable Element of MITE in <Emphasis Type="Italic">Xenopus</Emphasis> Evolution: A New Mechanism for Creating Simple Sequence Repeats

Xstir is a repetitive DNA sequence element that is extremely amplified as a common component of two different structures: a tandem repeat (Xstir array) and a MITE (miniature inverted-repeat transposable element) in the genome of Xenopus laevis. To elucidate the origin and evolutionary history of Xstir-related sequences, we investigated their species specificity among three Xenopus species (X. laevis, X. borealis, and X. tropicalis). Analyses by sequence alignment and digestion with restriction enzymes of genomic Xstir-related sequences revealed that the MITE (Xmix MITE) was well conserved among the three Xenopus species, with small lineage-specific differences. On the other hand, the tandem repeat element (tropXstir) in X. tropicalis was different from the Xstir that X. laevis and X. borealis have in common. Both sequences of Xstir and tropXstir were, however, different segments of the Xmix MITE. The results suggest that these tandem repeats were formed by partial tandem duplication of the MITE internal sequence in each lineage of X. tropicalis and of X. borealis/X. laevis after their branching. A molecular mechanism for creating and elongating the tandem repeats from the MITE is proposed.Reviewing Editor: Dr. Jerzy Jurka