Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-ll, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method （GPM） based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.     

Meta-operation conflict resolution for human–human interaction in collaborative feature-based CAD systems

Conflicts resolution is one of the key issues in maintaining consistency and in supporting smooth human–human interaction for real-time collaborative systems. This paper presents a novel approach of meta-operation conflict resolution for feature-based collaborative CAD system. Although commutative replicated data type (CRDT) is an emerging technique for conflict resolution, it is not capable of resolving conflicts among meta operations for 3D CAD systems. By defining 3 types of meta operations, this work extends CRDT capability to meta operation conflict resolution from 1D to 3D applications. The paper defines the dependency, casuality, conflict and compatible relations specific for 3D collaborative CAD systems. The conflicts of feature-based operations are automatically detected by tracking topological entity changes with the assistance of a persistent data structure, topological entity structure tree (\(TES\_Tree\)). An efficient commutativity-based confliction combination method is proposed to preserve the design intention of each user in a transparent way and maintains the eventual consistent state of the system. The proposed methods are tested in a prototype system with case studies, time complexity analysis and correctness proof.     

Bipedal walking and running with spring-like biarticular muscles

Compliant elements in the leg musculoskeletal system appear to be important not only for running but also for walking in human locomotion as shown in the energetics and kinematics studies of spring-mass model. While the spring-mass model assumes a whole leg as a linear spring, it is still not clear how the compliant elements of muscle-tendon systems behave in a human-like segmented leg structure. This study presents a minimalistic model of compliant leg structure that exploits dynamics of biarticular tension springs. In the proposed bipedal model, each leg consists of three leg segments with passive knee and ankle joints that are constrained by four linear tension springs. We found that biarticular arrangements of the springs that correspond to rectus femoris, biceps femoris and gastrocnemius in human legs provide self-stabilizing characteristics for both walking and running gaits. Through the experiments in simulation and a real-world robotic platform, we show how behavioral characteristics of the proposed model agree with basic patterns of human locomotion including joint kinematics and ground reaction force, which could not be explained in the previous models.     

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.     

Morphological Evolution of Physical Robots through Model-Free Phenotype Development

Artificial evolution of physical systems is a stochastic optimization method in which physical machines are iteratively adapted to a target function. The key for a meaningful design optimization is the capability to build variations of physical machines through the course of the evolutionary process. The optimization in turn no longer relies on complex physics models that are prone to the reality gap, a mismatch between simulated and real-world behavior. We report model-free development and evaluation of phenotypes in the artificial evolution of physical systems, in which a mother robot autonomously designs and assembles locomotion agents. The locomotion agents are automatically placed in the testing environment and their locomotion behavior is analyzed in the real world. This feedback is used for the design of the next iteration. Through experiments with a total of 500 autonomously built locomotion agents, this article shows diversification of morphology and behavior of physical robots for the improvement of functionality with limited resources.     

Deductive biology—Some cautious steps

For certain environments, the Darwinian model allows unique prediction of a function that any surviving system adapted to such an environment has to perform. This is the case for those environments that determine a “survival functional” of position in space-time of known shape. Purely temporal survival functionals can be distinguished from spatial and mixed ones. In each case, there exists an optimum path in combined physical and (reduced) metabolic space. Dependent on the admissible error, approximate solutions of different complexity are sufficient. All solutions possess an afferent, a central, and an efferent part. Within this general frame, specific, “probably simplest”, solutions are proposed for adaptive chemotaxis, insect locomotion, lower vertebrates locomotion, higher vertebrates locomotion, chronobiological systems, and immune systems, respectively—or rather, for the underlying functionals. Presented at the Society for Mathematical Biology Meeting, University of Pennsylvania, Philadelphia, August 19–21, 1976.     

Loss of signal transduction and inhibition of lymphocyte locomotion in a ground-based model of microgravity

Inflammatory adherence to, and locomotion through the interstitium is an important component of the immune response. Conditions such as microgravity and modeled microgravity (MMG) severely inhibit lymphocyte locomotion in vitro through gelled type I collagen. We used the NASA rotating wall vessel bioreactor or slow-turning lateral vessel as a prototype for MMG in ground-based experiments. Previous experiments from our laboratory revealed that when lymphocytes (human peripheral blood mononuclear cells [PBMCs]) were first activated with phytohemaglutinin followed by exposure to MMG, locomotory capacity was not affected. In the present study, MMG inhibits lymphocyte locomotion in a manner similar to that observed in microgravity. Phorbol myristate acetate (PMA) treatment of PBMCs restored lost locomotory capacity by a maximum of 87%. Augmentation of cellular calcium flux with ionomycin had no restorative effect. Treatment of lymphocytes with mitomycin C prior to exposure to MMG, followed by PMA, restored locomotion to the same extent as when nonmitomycin C-treated lymphocytes were exposed to MMG (80-87%), suggesting that deoxyribonucleic acid replication is not essential for the restoration of locomotion. Thus, direct activation of protein kinase C (PKC) with PMA was effective in restoring locomotion in MMG comparable to the normal levels seen in Ig cultures. Therefore, in MMG, lymphocyte calcium signaling pathways were functional, with defects occurring at either the level of PKC or upstream of PKC.     

Better Endurance and Load Capacity: An Improved Design of Manta Ray Robot (RoMan-II)

An improved design of a biomimetic underwater vehicle (RoMan-II) inspired by manta ray is presented in this paper. The design of the prototype and the swimming motion control are discussed. Instead of using rigid multiple degree-of-freedom linkages as fin rays in the first version, six flexible fin rays are adopted to drive two sided fins which generate thrust through flapping motions. Furthermore, in order to save the energy for a long distance cruising, a bio-inspired gliding motion is incorporated onto the motion control of the improved prototype. With a closed-loop buoyancy control system, the vehicle can perform gliding locomotion in water, which reduces the overall energy consumption. The vehicle can also perform pivot turning and backward locomotion without turning its body. It can achieve an average velocity of one body length per second. The vehicle is able to carry various sensors or communication equipments, as the payload capacity is about 4 kg. Initial testing shows that the operation time of the buoyancy body is estimated to about 6 hours for free swimming and 90 hours for a pure gliding. The flapping frequency, flapping amplitude, and the number of waves performed across the fin's chord and wave directions can be independently tuned through the proposed control scheme. In general, the present prototype provides a useful platform to study the ray-like swimming motion in a single or combination mode of flapping, undulation and gliding.     

An Efficient Gait-generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach

The research field of legged robots has always relied on the bionic robotic research,especially in locomotion regulating approaches,such as foot trajectory planning,body stability regulating and energy efficiency prompting.Minimizing energy consumption and keeping the stability of body are considered as two main characteristics of human walking.This work devotes to develop an energy-efficient gait control method for electrical quadruped robots with the inspiration of human walking pattern.Based on the mechanical power distribution trend,an efficient humanoid power redistribution approach is established for the electrical quadruped robot.Through studying the walking behavior acted by mankind,such as the foot trajectory and change of mechanical power,we believe that the proposed controller which includes the bionic foot movement trajectory and humanoid power redistribution method can be implemented on the electrical quadruped robot prototype.The stability and energy efficiency of the proposed controller are tested by the simulation and the single-leg prototype experi-ment.The results verify that the humanoid power planning approach can improve the energy efficiency of the electrical quadruped robots.     

Analyzing variable behavioral contingencies: Are certain complex skills homologous with locomotion?

This paper considers behavioral contingencies that change as a function of time, of the individual's own behavior (as in locomotion and reading), of the behavior of other parties or of interactions with them. A detailed analysis of locomotion and of reading out loud shows that the behavioral contingencies for these are virtually the same. The terrain being traversed and the locomotion behavior involved are shown to be analogous to a segment of text being read and the articulation of the words. In both cases, successive upcoming segments are perceived and processed, and during the processing phases, motor behavior is formulated. In both, the smooth concatenation of the motor phases for successive segments requires buffering. Both involve corrective or digressive actions in response to obstacles or unanticipated stimuli encountered. Both involve looking ahead at the upcoming segment and processing it while the motor phase of the prior segment is still in progress. For both, the size, entropy, familiarity, and other attributes of the upcoming segment are parameters of the performance. It is suggested that locomotion has similar parallels with certain other complex skills, such as listening, copying, receiving Morse code, simultaneous interpreting, and certain types of performance, and may therefore be their phylogenetic prototype and biological homologue.     

Biorobotic approaches to the study of motor systems

Biorobotics is a promising new area of research at the interface between biology and robotics. Robots can either be used as physical models of biological systems or be directly inspired by biological studies. A great deal of progress has recently been made in biorobotic studies of locomotion, orientation, and vertebrate arm control.     

The integration of locomotion and prey capture in vertebrates: Morphology, behavior, and performance

For most vertebrates, locomotion is a fundamental componentof prey capture. Despite this ubiquitous link, few studies havequantified the integration of these complex systems. Severalvariables related to locomotor performance, including maximumspeed, acceleration, deceleration, maneuverability, accuracy,and approach stability, likely influence feeding performancein vertebrates. The relative importance of these measures ofperformance, however, depends on the ecology of the predator.While factors such as morphology and physiology likely definethe limits of these variables, other factors such as motivationof the predator, prey type, and habitat structure can also influenceperformance. Understanding how these variables relate to feedingunder a given suite of ecological conditions is central to understandingpredator–prey interactions, and ultimately how locomotionand feeding have co-evolved. The goals of this article are todiscuss several variables of locomotor performance related toprey capture, present new data on the relationship between locomotorand feeding morphology in fishes, discuss the evolution of preycapture in cichlid fishes, and outline some future directionsfor research. While suction feeding is a primary mechanism ofprey capture in fishes, swimming is vital for accurately positioningthe mouth relative to the prey item. Many fishes decelerateduring prey capture using their body and fins, but the pectoralfins have a dominant role in maintaining approach stability.This suggests that fishes employing high-performance suctionfeeding (relatively small mouth) will have larger pectoral finsto facilitate accurate and stable feeding. I provide new dataon the relationship between pectoral fin morphology and maximumgape in centrarchid fishes. For seven species, pectoral finarea was significantly, and negatively, correlated with maximumgape. This example illustrates that the demands from one complexsystem (feeding) can influence another complex system (locomotion).Future studies that examine the morphological, physiological,and functional evolution of locomotion involved in prey captureby aquatic and terrestrial vertebrates will provide insightinto the origin and consequences of diversity.     

Proprioception,the regulator of motor function

In animals, proper locomotion is crucial to find mates and foods and avoid predators or dangers. Multiple sensory systems detect external and internal cues and integrate them to modulate motor outputs. Proprioception is the internal sense of body position, and proprioceptive control of locomotion is essential to generate and maintain precise patterns of movement or gaits. This proprioceptive feedback system is conserved in many animal species and is mediated by stretch-sensitive receptors called proprioceptors. Recent studies have identified multiple proprioceptive neurons and proprioceptors and their roles in the locomotion of various model organisms. In this review we describe molecular and neuronal mechanisms underlying proprioceptive feedback systems in C. elegans, Drosophila, and mice.     

Environmental Assessment of Waste-Solvent Treatment Options

Abstract: The software tool ecosolvent is presented that allows for comparative environmental assessment of treatment technologies for specific, user-defined, waste-solvent mixtures. The tool is composed of models for waste-solvent distillation as well as for thermal treatment in hazardous waste-solvent incinerators and cement kilns. It was designed with a tiered structure in order to allow for a high flexibility regarding informational needs. The life-cycle assessment method was used to assess the environmental impact. The applicability of the tool is shown with two case studies from industry. In these case studies, various waste-solvent treatment technologies are compared for two specific waste-solvent mixtures. Potential use of the ecosolvent tool for its role in practical decision making in chemicals industries is illustrated by two case studies of waste-solvent systems. In the ethyl acetate case study, the tool indicates that solvent recovery by distillation is clearly better than incineration of the waste solvent. The results from the methanol case study are less clear-cut. In the subsequent article (part II), the ecosolvent tool will be used to derive general rules of thumb and specific recommendations for 45 important solvents used in chemical industries. Additionally, a framework will be presented that provides quick and easy decision support regarding environmentally optimized waste-solvent management.     

External proprioceptors of locust locomotor organs and their change in the course of early larval ontogenesis

This work studies topography and structure of such important insect external proprioceptors as campaniform sensillae (CS). These mechanoreceptors are essential components of insect posture and locomotion regulation and participate in control of various forms of insect motor behavior (walking, jump, flight). There are traced their quantitative changes as well as differences in distribution of groups of these leg receptors at consecutive stages (from the 1st to the 4th instar) of ontogenetic development of larva of the locust Locusta migratoria L. The presence of groups of CS in proximal parts of extremities has been noted as early as in the 1st instar larvae. The CS groups in the wing pads were revealed only in the 4th instar larvae. The presented data allow connecting changes in structure and distribution of these proprioceptors with differences in locomotion of imagoes and larvae. A possible effect of these insect larval proprioceptors on central generators of the locomotion rhythms is discussed.     

Information-driven self-organization: the dynamical system approach to autonomous robot behavior

In recent years, information theory has come into the focus of researchers interested in the sensorimotor dynamics of both robots and living beings. One root for these approaches is the idea that living beings are information processing systems and that the optimization of these processes should be an evolutionary advantage. Apart from these more fundamental questions, there is much interest recently in the question how a robot can be equipped with an internal drive for innovation or curiosity that may serve as a drive for an open-ended, self-determined development of the robot. The success of these approaches depends essentially on the choice of a convenient measure for the information. This article studies in some detail the use of the predictive information (PI), also called excess entropy or effective measure complexity, of the sensorimotor process. The PI of a process quantifies the total information of past experience that can be used for predicting future events. However, the application of information theoretic measures in robotics mostly is restricted to the case of a finite, discrete state-action space. This article aims at applying the PI in the dynamical systems approach to robot control. We study linear systems as a first step and derive exact results for the PI together with explicit learning rules for the parameters of the controller. Interestingly, these learning rules are of Hebbian nature and local in the sense that the synaptic update is given by the product of activities available directly at the pertinent synaptic ports. The general findings are exemplified by a number of case studies. In particular, in a two-dimensional system, designed at mimicking embodied systems with latent oscillatory locomotion patterns, it is shown that maximizing the PI means to recognize and amplify the latent modes of the robotic system. This and many other examples show that the learning rules derived from the maximum PI principle are a versatile tool for the self-organization of behavior in complex robotic systems.     

Central pattern generating networks in insect locomotion

Central pattern generators (CPGs) are neural circuits that based on their connectivity can generate rhythmic and patterned output in the absence of rhythmic external inputs. This property makes CPGs crucial elements in the generation of many kinds of rhythmic motor behaviors in insects, such as flying, walking, swimming, or crawling. Arguably representing the most diverse group of animals, insects utilize at least one of these types of locomotion during one stage of their ontogenesis. Insects have been extensively used to study the neural basis of rhythmic motor behaviors, and particularly the structure and operation of CPGs involved in locomotion. Here, we review insect locomotion with regard to flying, walking, and crawling, and we discuss the contribution of central pattern generation to these three forms of locomotion. In each case, we compare and contrast the topology and structure of the CPGs, and we point out how these factors are involved in the generation of the respective motor pattern. We focus on the importance of sensory information for establishing a functional motor output and we indicate behavior‐specific adaptations. Furthermore, we report on the mechanisms underlying coordination between different body parts. Last but not least, by reviewing the state‐of‐the‐art knowledge concerning the role of CPGs in insect locomotion, we endeavor to create a common ground, upon which future research in the field of motor control in insects can build.     

Indirect Suppression in CAENORHABDITIS ELEGANS

Two cases of indirect suppression have been characterized. One case involves suppressors compensating for defects in muscle structure. Nine independent suppressor mutations were judged to lie in a single suppressor gene, sup-3. Suppression is dominant, but dose dependent, and results in improved locomotion, as well as in an increase in the ability of mutant animals to lay eggs. Mutations in six genes known to affect muscle structure were tested for suppression by representative sup-3 mutations. Alleles of three of the six genes are suppressed, two of which are known to code for thick filament proteins. One suppressor allele was identified as a deletion by genetic criteria. A second case of indirect suppression is not associated with muscle defects, but involves two mutant genes producing uncoordinated phenotypes very similar to one another. As in the first case, suppression is dominant but dose dependent and is not allele specific.