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Bio-Inspired Approaches—a Leverage for Robotics

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A special issue of Biomimetics (ISSN 2313-7673). This special issue belongs to the section "Locomotion and Bioinspired Robotics".

Deadline for manuscript submissions: 15 December 2024 | Viewed by 14733

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Special Issue Editors

Dr. Swaminath Venkateswaran

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Leonardo de Vinci Engineering School (ESILV), De Vinci Research Center (DVRC), Courbevoie, France
Interests: parallel kinematic mechanisms; tensegrity; design optimization; bio-inspired locomotion; bio-mimetics
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Prof. Dr. Damien Chablat

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Guest Editor

École Centrale Nantes, Nantes Université, IMT Atlantique, CNRS, INRIA, LS2N, UMR 6004, 44300 Nantes, France
Interests: parallel robots; human faitgue analysis; bio-inspiration; ergonomics

Prof. Dr. Poramate Manoonpong

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Guest Editor

Embodied AI and Neurorobotics Laboratory, SDU Biorobotics, The Maersk Mc-Kinney Moller Institute, The University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark
Interests: biomechanics; exoskeletons; human-machine interaction; service/inspection robots; embodied AI
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Dr. Julien R Serres

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The Institute of Mouvement Sciences – Etienne-Jules Marey, Aix Marseille University, ISM UMR7287, 13009 Marseille, France
Interests: biorobotics; bio-inspired robotics; optic flow; visual guidance; celestial compass; polarization-based localization; bio-inspired navigation
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Special Issue Information

Dear Colleagues,

The field of bio-inspired approaches (also known as biomimetics or biomimicry) is a design approach whereby a product or process is inspired by elements of nature, such as plants or animals. Bio-inspired approaches serve as inspiration and motivation for many engineers and designers in terms of efforts to identify unexpected solutions to problems. These approaches have made great inroads in the aerospace, marine and automotive industries. The domains of bio-inspiration and bio-mimetics have also been the focus of a number of studies in the domain of robotics. There are several examples of their use in the literature, including their implementation in snake-type robots for underwater inspection or in the worm-type systems for industrial pipeline inspections. The objective of this Special Issue is to compile and present the recent advancements in the domain of bio-inspired robotics and their potential applications in industry. This will help researchers from all communities to understand the relevance of bio-inspiration in robotics and serve as a platform for the application of these cutting-edge approaches to other fields.

Topics of interest include (but are not limited to):

Bio-inspired robots;
Bio-robotics;
Bio-mimetics;
Soft robotics;
Parallel robots;
Bio-inspired control;
Embodied artificial intelligence;
Bio-inspired locomotion;
Bio-inspired actuators;
Sensors in mechanics;;
Legged robotics
Stiffness-on-demand structure.

Dr. Swaminath Venkateswaran
Prof. Dr. Damien Chablat
Prof. Dr. Poramate Manoonpong
Dr. Julien R Serres
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Biomimetics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2200 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

bioinspiration
biomimetics
robotics
control
soft robots

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Published Papers (10 papers)

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Research

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23 pages, 17564 KiB

Open AccessArticle

Hydrodynamic Simulation and Experiment of a Self-Adaptive Amphibious Robot Driven by Tracks and Bionic Fins

by Minghai Xia, Qunwei Zhu, Qian Yin, Zhongyue Lu, Yiming Zhu and Zirong Luo

Biomimetics 2024, 9(10), 580; https://doi.org/10.3390/biomimetics9100580 - 24 Sep 2024

Viewed by 987

Abstract

Amphibious robots have broad prospects in the fields of industry, defense, and transportation. To improve the propulsion performance and reduce operation complexity, a novel bionic amphibious robot, namely AmphiFinbot-II, is presented in this paper. The swimming and walking components adopt a compound drive mechanism, enabling simultaneous control for the rotation of the track and the wave-like motion of the undulating fin. The robot employs different propulsion methods but utilizes the same operation strategy, eliminating the need for mode switching. The structure and the locomotion principle are introduced. The performance of the robot in different motion patterns was analyzed via computational fluid dynamics simulation. The simulation results verified the feasibility of the wave-like swimming mechanism. Physical experiments were conducted for both land and underwater motion, and the results were consistent with the simulation regulation. Both the underwater linear and angular velocity were proportional to the undulating frequency. The robot’s maximum linear speed and steering speed on land were 2.26 m/s (2.79 BL/s) and 442°/s, respectively, while the maximum speeds underwater were 0.54 m/s (0.67 BL/s) and 84°/s, respectively. The research findings indicate that the robot possesses outstanding amphibious motion capabilities and a simplistic yet unified control approach, thereby validating the feasibility of the robot’s design scheme, and offering a novel concept for the development of high-performance and self-contained amphibious robots. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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27 pages, 9664 KiB

Open AccessArticle

Bio-Inspired Motion Emulation for Social Robots: A Real-Time Trajectory Generation and Control Approach

by Marvin H. Cheng, Po-Lin Huang and Hao-Chuan Chu

Biomimetics 2024, 9(9), 557; https://doi.org/10.3390/biomimetics9090557 - 15 Sep 2024

Viewed by 861

Abstract

Assistive robotic platforms have recently gained popularity in various healthcare applications, and their use has expanded to social settings such as education, tourism, and manufacturing. These social robots, often in the form of bio-inspired humanoid systems, provide significant psychological and physiological benefits through one-on-one interactions. To optimize the interaction between social robotic platforms and humans, it is crucial for these robots to identify and mimic human motions in real time. This research presents a motion prediction model developed using convolutional neural networks (CNNs) to efficiently determine the type of motions at the initial state. Once identified, the corresponding reactions of the robots are executed by moving their joints along specific trajectories derived through temporal alignment and stored in a pre-selected motion library. In this study, we developed a multi-axial robotic arm integrated with a motion identification model to interact with humans by emulating their movements. The robotic arm follows pre-selected trajectories for corresponding interactions, which are generated based on identified human motions. To address the nonlinearities and cross-coupled dynamics of the robotic system, we applied a control strategy for precise motion tracking. This integrated system ensures that the robotic arm can achieve adequate controlled outcomes, thus validating the feasibility of such an interactive robotic system in providing effective bio-inspired motion emulation. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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14 pages, 7469 KiB

Open AccessArticle

Verification of Criterion-Related Validity for Developing a Markerless Hand Tracking Device

by Ryota Suwabe, Takeshi Saito and Toyohiro Hamaguchi

Biomimetics 2024, 9(7), 400; https://doi.org/10.3390/biomimetics9070400 - 2 Jul 2024

Viewed by 1025

Abstract

Physicians, physical therapists, and occupational therapists have traditionally assessed hand motor function in hemiplegic patients but often struggle to evaluate complex hand movements. To address this issue, in 2019, we developed Fahrenheit, a device and algorithm that uses infrared camera image processing to estimate hand paralysis. However, due to Fahrenheit’s dependency on specialized equipment, we conceived a simpler solution: developing a smartphone app that integrates MediaPipe. The objective of this study was to measure hand movements in stroke patients using both MediaPipe and Fahrenheit and to assess their criterion-related validity. The analysis revealed moderate-to-high correlations between the two methods. Consistent results were also observed in the peak angle and velocity comparisons across the severity stages. Because Fahrenheit determines finger recovery status based on these measures, it has the potential to transfer this function to MediaPipe. This study highlighted the potential use of MediaPipe in paralysis estimation applications. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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21 pages, 13335 KiB

Open AccessArticle

Coordinated Transport by Dual Humanoid Robots Using Distributed Model Predictive Control

by Shengjun Wen, Zhaoyuan Shi and Hongjun Li

Biomimetics 2024, 9(6), 332; https://doi.org/10.3390/biomimetics9060332 - 30 May 2024

Viewed by 1095

Abstract

Dual humanoid robot collaborative control systems possess better flexibility and adaptability in complex environments due to their similar structures to humans. This paper adopts a distributed model predictive controller based on the leader–follower approach to address the collaborative transportation control issue of dual humanoid robots. In the dual-robot collaborative control system, network latency issues may arise due to unstable network conditions, affecting the consistency of dual-robot collaboration. To solve this issue, a communication protocol was constructed through socket communication for dual-robot collaborative consistency, thereby resolving the problem of consistency in dual humanoid robot collaboration. Additionally, due to the complex structure of humanoid robots, there are deficiencies in position tracking accuracy during movement. To address the poor accuracy in position tracking, this paper proposes a distributed model predictive control that considers historical cumulative error, thus enhancing the position tracking accuracy of dual-robot collaborative control. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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18 pages, 8108 KiB

Open AccessArticle

Discrete-Time Impedance Control for Dynamic Response Regulation of Parallel Soft Robots

by Ameer Hamza Khan and Shuai Li

Biomimetics 2024, 9(6), 323; https://doi.org/10.3390/biomimetics9060323 - 28 May 2024

Viewed by 983

Abstract

Accurately controlling the dynamic response and suppression of undesirable dynamics such as overshoots and vibrations is a vital requirement for soft robots operating in industrial environments. Pneumatically actuated soft robots usually undergo large overshoots and significant vibrations when deactuated because of their highly flexible bodies. These large vibrations not only decrease the reliability and accuracy of the soft robot but also introduce undesirable characteristics in the system. For example, it increases the settling time and damages the body of the soft robot, compromising its structural integrity. The dynamic behavior of the soft robots on deactuation needs to be accurately controlled to increase their utility in real-world applications. The literature on pneumatic soft robots still does not sufficiently address the issue of suppressing undesirable vibrations. To address this issue, we propose the use of impedance control to regulate the dynamic response of pneumatic soft robots since the superiority of impedance control is already established for rigid robots. The soft robots are highly nonlinear systems; therefore, we formulated a nonlinear discrete sliding mode impedance controller to control the pneumatic soft robots. The formulation of the controller in discrete-time allows efficient implementation for a high-order system model without the need for state-observers. The simplification and efficiency of the proposed controller enable fast implementation of an embedded system. Unlike other works on pneumatic soft robots, the proposed controller does not require manual tuning of the controller parameters and automatically calculates the parameters based on the impedance value. To demonstrate the efficacy of the proposed controller, we used a 6-chambered parallel soft robot as an experimental platform. We presented the comparative results with an existing state-of-the-art controller in SMC control of pneumatic soft robots. The experiment results indicate that the proposed controller can effectively limit the amplitude of the undesirable vibrations. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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35 pages, 9527 KiB

Open AccessArticle

Bio-Inspired Space Robotic Control Compared to Alternatives

by Timothy Sands

Biomimetics 2024, 9(2), 108; https://doi.org/10.3390/biomimetics9020108 - 12 Feb 2024

Cited by 2 | Viewed by 1570

Abstract

Controlling robots in space with necessarily low material and structural stiffness is quite challenging at least in part due to the resulting very low structural resonant frequencies or natural vibration. The frequencies are sometimes so low that the very act of controlling the robot with medium or high bandwidth controllers leads to excitation of resonant vibrations in the robot appendages. Biomimetics or biomimicry emulates models, systems, and elements of nature for solving such complex problems. Recent seminal publications have re-introduced the viability of optimal command shaping, and one recent instantiation mimics baseball pitching to propose control of highly flexible space robots. The readership will find a perhaps dizzying array of thirteen decently performing alternatives in the literature but could be left bereft selecting a method(s) deemed to be best suited for a particular application. Bio-inspired control of space robotics is presented in a quite substantial (perhaps not comprehensive) comparison, and the conclusions of this study indicate the three top performing methods based on minimizing control effort (i.e., fuel) usage, tracking error mean, and tracking error deviation, where 96%, 119%, and 80% performance improvement, respectively, are achieved. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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14 pages, 9480 KiB

Open AccessArticle

Bioinspired Whisker Sensor for 3D Mapping of Underground Mining Environments

by Virgilio Gomez, Walid Remmas, Miguel Hernando, Asko Ristolainen and Claudio Rossi

Biomimetics 2024, 9(2), 83; https://doi.org/10.3390/biomimetics9020083 - 31 Jan 2024

Cited by 1 | Viewed by 1971

Abstract

Traversing through challenging, unstructured environments, particularly in mining scenarios characterized by dust concentration, darkness, and lack of communication presents formidable obstacles for traditional sensing technologies. Drawing inspiration from naked mole rats, characterized as being skilled subterranean navigators that depend heavily on touch to navigate their environment, this study introduces a new whisker-sensing disk designed for 3D mapping in unstructured environments. The disk comprises a circular array of 32 whisker sensors, each featuring a slender flexible plastic rod attached to a compliant base housing a 3D Hall-effect sensor. The whisker sensor is modeled using both analytical and data-driven approaches to predict rotation angles based on magnetic field measurements. The validation and comparison of both models are performed by evaluating data from other whisker sensors. Additionally, a series of experiments demonstrates the whisker disk’s capability in performing 3D-mapping tasks, along with successful implementation on diverse robotic platforms, highlighting its future potential for effective 3D mapping in complex and unstructured subterranean environments. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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16 pages, 10359 KiB

Open AccessArticle

Low-Cost Angle Sensor for Robotics Applications Using Plastic Optical Fiber Based on Optical Loss Mechanism

by Hyun-Woo Lee, Dae-Hyun Kim and Sangwoo Shin

Biomimetics 2023, 8(8), 567; https://doi.org/10.3390/biomimetics8080567 - 25 Nov 2023

Cited by 1 | Viewed by 1603

Abstract

Robotic systems and the human body consist of numerous joint structures, all of which require precise angle adjustments. At present, encoder, strain gauge, and electrical resistance-based sensors are commonly used for angle measurement. However, these sensors have limitations when used in underwater or in environments with strong electromagnetic waves. Therefore, we have developed an angle sensor based on step-index profile plastic optical fiber (SI-POF), which is cost-effective and highly durable, in this study in order to overcome the limitations of existing angle measurement sensors. To this end, the amount of light loss according to the gab and angle changes that occur when the POF angle sensor is applied to the robot arm was experimentally measured, and based on the results, a simulation of the amount of light loss when the two losses occurred at the same time was conducted. In addition, the performance of the POF angle sensor was evaluated by measuring sensitivity and resolution, and comparative verification with a commonly used encoder was conducted to verify the reliability of sensors in extreme environments, such as those with electromagnetic fields and those that are underwater. Through this, the reliability and practicality of the POF angle sensor were confirmed. The results obtained in this study suggest that POF-based angle sensors can contribute to the development of the biomimetic robot industry as well as ordinary robots, especially in environments where existing sensors are difficult to apply, such as areas with underwater or electromagnetic interference (EMI). Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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29 pages, 18868 KiB

Open AccessArticle

Multi-Locomotion Design and Implementation of Transverse Ledge Brachiation Robot Inspired by Sport Climbing

by Chi-Ying Lin and Jhe-Ming Lee

Biomimetics 2023, 8(2), 204; https://doi.org/10.3390/biomimetics8020204 - 16 May 2023

Cited by 1 | Viewed by 1825

Abstract

Brachiation robots mimic the locomotion of bio-primates, including continuous brachiation and ricochetal brachiation. The hand-eye coordination involved in ricochetal brachiation is complex. Few studies have integrated both continuous and ricochetal brachiation within the same robot. This study seeks to fill this gap. The proposed design mimics the transverse movements of sports climbers holding onto horizontal wall ledges. We analyzed the cause-and-effect relationship among the phases of a single locomotion cycle. This led us to apply a parallel four-link posture constraint in model-based simulation. To facilitate smooth coordination and efficient energy accumulation, we derived the required phase switching conditions as well as joint motion trajectories. Based on a two-hand-release design, we propose a new style of transverse ricochetal brachiation. This design better exploits inertial energy storage for enhanced moving distance. Experiments demonstrate the effectiveness of the proposed design. A simple evaluation method based on the final robot posture from the previous locomotion cycle is applied to predict the success of subsequent locomotion cycles. This evaluation method serves as a valuable reference for future research. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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Review

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21 pages, 8091 KiB

Open AccessReview

How Multifunctioning Joints Produce Highly Agile Limbs in Animals with Lessons for Robotics

by Stuart C. Burgess

Biomimetics 2024, 9(9), 529; https://doi.org/10.3390/biomimetics9090529 - 3 Sep 2024

Viewed by 1245

Abstract

This paper reviews how multifunctioning joints produce highly agile limbs in animals with lessons for robotics. One of the key reasons why animals are so fast and agile is that they have multifunctioning joints in their limbs. The multifunctioning joints lead to a high degree of compactness which then leads to a host of benefits such as low mass, low moment of inertia and low drag. This paper presents three case studies of multifunctioning joints—the human wrist joint, knee joint and foot joints—in order to identify how multifunctioning is achieved and what lessons can be learned for robotics. It also reviews the multifunctioning nature of muscle which plays an important role in joint actuation. A key finding is that multifunctioning is achieved through various means: multiple degrees of freedom, multifunctioning parts, over-actuation and reconfiguration. In addition, multifunctioning is achieved through highly sophisticated layouts with high levels of integration and fine-tuning. Muscle also makes an important contribution to animal agility by performing multiple functions including providing shape, protection and heat. The paper reviews progress in achieving multifunctioning in robot joints particularly for the wrist, knee and foot. Whilst there has been some progress in creating multifunctioning robotic joints, there is still a large gap between the performance of animal and robotic joints. There is an opportunity to improve the agility of robots by using multifunctioning to reduce the size and mass of robotic joints. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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