Sea urchins as an inspiration for robotic designs

Neuromorphic engineering is the approach to intelligent machine design inspired by nature. Here, we outline possible robotic design principles derived from the neural and motor systems of sea urchins (Echinoida). Firstly, we review the neurobiology and locomotor systems of sea urchins, with a comparative emphasis on differences to animals with a more centralized nervous system. We discuss the functioning and enervation of the tube feet, pedicellariae, and spines, including the limited autonomy of these structures. We outline the design principles behind the sea urchin nervous system. We discuss the current approaches of adapting these principles to robotics, such as sucker-like structures inspired by tube feet and a robotic adaptation of the sea urchin jaw, as well as future directions and possible limitations to using these principles in robots

Constructional design of echinoid endoskeleton: main structural components and their potential for biomimetic applications

The endoskeleton of echinoderms (Deuterostomia: Echinodermata) is of mesodermal origin and consists of cells, organic components, as well as an inorganic mineral matrix. The echinoderm skeleton forms a complex lattice-system, which represents a model structure for naturally inspired engineering in terms of construction, mechanical behaviour and functional design. The sea urchin (Echinodermata: Echinoidea) endoskeleton consists of three main structural components: test, dental apparatus and accessory appendages. Although, all parts of the echinoid skeleton consist of the same basic material, their microstructure displays a great potential in meeting several mechanical needs according to a direct and clear structure–function relationship. This versatility has allowed the echinoid skeleton to adapt to different activities such as structural support, defence, feeding, burrowing and cleaning. Although, constrained by energy and resource efficiency, many of the structures found in the echinoid skeleton are optimized in terms of functional performances. Therefore, these structures can be used as role models for bio-inspired solutions in various industrial sectors such as building constructions, robotics, biomedical and material engineering. The present review provides an overview of previous mechanical and biomimetic research on the echinoid endoskeleton, describing the current state of knowledge and providing a reference for future studies

Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications

Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified

Models for reinforcement learning and design of a soft robot inspired by Drosophila larvae

Designs for robots are often inspired by animals, as they are designed mimicking animals’ mechanics, motions, behaviours and learning. The Drosophila, known as the fruit fly, is a well-studied model animal. In this thesis, the Drosophila larva is studied and the results are applied to robots. More specifically: a part of the Drosophila larva’s neural circuit for operant learning is modelled, based on which a synaptic plasticity model and a neural circuit model for operant learning, as well as a dynamic neural network for robot reinforcement learning, are developed; then Drosophila larva’s motor system for locomotion is studied, and based on it a soft robot system is designed. Operant learning is a concept similar to reinforcement learning in computer science, i.e. learning by reward or punishment for behaviour. Experiments have shown that a wide range of animals is capable of operant learning, including animal with only a few neurons, such as Drosophila. The fact implies that operant learning can establish without a large number of neurons. With it as an assumption, the structure and dynamics of synapses are investigated, and a synaptic plasticity model is proposed. The model includes nonlinear dynamics of synapses, especially receptor trafficking which affects synaptic strength. Tests of this model show it can enable operant learning at the neuron level and apply to a broad range of NNs, including feedforward, recurrent and spiking NNs. The mushroom body is a learning centre of the insect brain known and modelled for associative learning, but not yet for operant learning. To investigate whether it participates in operant learning, Drosophila larvae are studied with a transgenic tool by my collaborators. Based on the experiment and the results, a mushroom body model capable of operant learning is modelled. The proposed neural circuit model can reproduce the operant learning of the turning behaviour of Drosophila larvae. Then the synaptic plasticity model is simplified for robot learning. With the simplified model, a recurrent neural network with internal neural dynamics can learn to control a planar bipedal robot in a benchmark reinforcement learning task which is called bipedal walker by OpenAI. Benefiting efficiency in parameter space exploration instead of action space exploration, it is the first known solution to the task with reinforcement learning approaches. Although existing pneumatic soft robots can have multiple muscles embedded in a component, it is far less than the muscles in the Drosophila larva, which are well-organised in a tiny space. A soft robot system is developed based on the muscle pattern of the Drosophila larva, to explore the possibility to embed a high density of muscles in a limited space. Three versions of the body wall with pneumatic muscles mimicking the muscle pattern are designed. A pneumatic control system and embedded control system are also developed for controlling the robot. With a bioinspired body wall will a large number of muscles, the robot performs lifelike motions in experiments

Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

Haptics Rendering and Applications

There has been significant progress in haptic technologies but the incorporation of haptics into virtual environments is still in its infancy. A wide range of the new society's human activities including communication, education, art, entertainment, commerce and science would forever change if we learned how to capture, manipulate and reproduce haptic sensory stimuli that are nearly indistinguishable from reality. For the field to move forward, many commercial and technological barriers need to be overcome. By rendering how objects feel through haptic technology, we communicate information that might reflect a desire to speak a physically- based language that has never been explored before. Due to constant improvement in haptics technology and increasing levels of research into and development of haptics-related algorithms, protocols and devices, there is a belief that haptics technology has a promising future

Engineering derivatives from biological systems for advanced aerospace applications

The present study consisted of a literature survey, a survey of researchers, and a workshop on bionics. These tasks produced an extensive annotated bibliography of bionics research (282 citations), a directory of bionics researchers, and a workshop report on specific bionics research topics applicable to space technology. These deliverables are included as Appendix A, Appendix B, and Section 5.0, respectively. To provide organization to this highly interdisciplinary field and to serve as a guide for interested researchers, we have also prepared a taxonomy or classification of the various subelements of natural engineering systems. Finally, we have synthesized the results of the various components of this study into a discussion of the most promising opportunities for accelerated research, seeking solutions which apply engineering principles from natural systems to advanced aerospace problems. A discussion of opportunities within the areas of materials, structures, sensors, information processing, robotics, autonomous systems, life support systems, and aeronautics is given. Following the conclusions are six discipline summaries that highlight the potential benefits of research in these areas for NASA's space technology programs

The biomechanics of tree frog adhesion under challenging conditions

Tree frogs have evolved specialised toe pads which allow them to efficiently climb vertical surfaces. The toe pad stick by using ‘wet adhesion’ – a combination of forces produced by a thin layer of fluid between the pad and the surface which provide temporary adhesion to allow quick attachment and detachment for climbing. Most studies on tree frogs have been based on their adhesive capabilities on surfaces which are flat, clean and dry (usually glass). However, climbing tree frogs in the wild will come across a variety of surfaces which could affect their adhesive abilities. This PhD investigated whether tree frog adhesion is affected by various ‘challenging’ surfaces, which reflect conditions that tree frogs may encounter whilst climbing. These include rough surfaces, wet conditions, surfaces with loose particulate and hydrophobic surfaces. Experiments were predominantly conducted using a force transducer to measure adhesive and frictional forces of single toe pads, as well as whole animal attachment experiments involving a rotating tilting board. The toe pads of tree frogs were shown to possess a self-cleaning mechanism, whereby the pads will remove contaminants (and subsequently recover adhesive forces) through repeated use, thanks to shear movements of the pad and the presence of pad fluid which aids contaminant deposition. To investigate how torrent frogs (frogs which inhabit waterfalls) can adhere to rough and flooded surfaces, the performance of torrent frogs species Staurois guttatus was compared to a tree frog species (Rhacophorus pardalis). Torrent frogs could produce higher adhesive forces than tree frogs with their toe pads, and possess a specialised toe pad morphology (directional fluid channels on the pad periphery) which may contribute to better performance in flooded conditions. Torrent frogs utilise large areas of ventral skin to stay attached on overhanging surfaces, while tree frogs display a reduction in contact area resulting in a failure to stay attached. This combination of ability and behaviour will help torrent frogs to stay attached on the rough and flooded surfaces that make up their waterfall habitat. On rough surfaces, tree frogs showed improved (compared to smooth surface performance) performance on smaller scale roughness (asperity size <10 µm), and poorer performance on the larger scale roughnesses tested (30 – 425 µm). Interference reflection microscopy (IRM) revealed that larger asperities result in pad fluid being unable to fill the larger gaps of such surfaces, which was confirmed by adding water to rough surfaces to improve attachment performance. The soft pad does however aid in conforming to some rough surfaces, which could account for the better performance on the smaller scale roughness. Many plant surfaces exhibit hydrophobic properties, and so the adhesive performance of tree frogs on hydrophobic surfaces was compared to that on hydrophilic surfaces. It was found that the toe pads could produce similar adhesive and frictional forces on both surfaces. The pad fluids contact angles were then measured on hydrophobic surfaces using IRM, where droplets of pad fluid formed lower contact angles (and are therefore exhibiting higher wettability) than water. Though the exact composition of pad fluid is unknown, some form of surfactant must be present which aids wetting of surfaces (either a surface modification or detergent present in the fluid) to allow wet adhesion to occur - goniometer experiments of water on dried footprints on hydrophobic surfaces confirmed this. The ability to stick in a variety of conditions could provide inspiration for ‘smart’ adhesives, which mimic the adaptable adhesion of tree frog toe pads

The Architecture of Soft Machines

This thesis speculates about the possibility of softening architecture through machines. In deviating from traditional mechanical conceptions of machines based on autonomous, functional and purely operational notions, the thesis proposes to conceive of machines as corporeal media in co-constituting relationships with human bodies. As machines become corporeal (robots) and human bodies take on qualities of machines (cyborgs) the thesis investigates their relations to architecture through readings of William S. Burroughs’ proto-cyborgian novel The Soft Machine (1961) and Georges Teyssot’s essay ‘Hybrid Architecture: An Environment for the Prosthetic Body’ (2005) arguing for a revision of architecture’s anthropocentric mandate in favour of technologically co-constituting body ideas. The conceptual shift in man-machine relations is also demonstrated by discussion of two installations shown at the Venice Biennale, Daniel Libeskind’s mechanical Three Lessons in Architecture (1985) and Philip Beesely’s responsive Hylozoic Ground (2010). As the purely mechanical model has been superseded by a model that incorporates digital sensing and embedded actuation, as well as soft and compliant materiality, the promise of softer, more sensitive and corporeal conceptions of technology shines onto architecture. Following Nicholas Negroponte’s ambition for a ‘humanism through machines,’ stated in his groundbreaking work, Soft Architecture Machines (1975), and inspired by recent developments in the emerging field of soft robotics, I have developed a series of practical design experiments, ranging from soft mechanical hybrids to soft machines made entirely from silicone and actuated by embedded pneumatics, to speculate about architectural environments capable of interacting with humans. In a radical departure from traditional mechanical conceptions based on modalities of assembly, the design of these types of soft machines is derived from soft organisms such as molluscs (octopi, snails, jellyfish) in order to infuse them with notions of flexibility, compliance, sensitivity, passive dynamics and spatial variability. Challenging architecture’s alliance with notions of permanence and monumentality, the thesis finally formulates a critique of static typologisation of space with walls, floors, columns or windows. In proposing an embodied architecture the thesis concludes by speculating about architecture as a capacitated, sensitive and sensual body informed by reciprocal conditioning of constituent systems, materials, morphologies and behaviours