Snake and Snake Robot Locomotion in Complex, 3-D Terrain

Snakes are able to traverse almost all types of environments by bending their elongate bodies in three dimensions to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how 3-D body bending effectively interacts with the terrain for propulsion and stability can not only inform how snakes move through natural environments, but also inspire snake robots to achieve similar performance to facilitate humans. How snakes and snake robots move on flat surfaces has been understood relatively well in previous studies. However, such ideal terrain is rare in natural environments and little was understood about how to generate propulsion and maintain stability when large height variations occur, except for some qualitative descriptions of arboreal snake locomotion and a few robots using geometric planning. To bridge this knowledge gap, in this dissertation research we integrated animal experiments and robotic studies in three representative environments: a large smooth step, an uneven arena of blocks of large height variation, and large bumps. We discovered that vertical body bending induces stability challenges but can generate large propulsion. When traversing a large smooth step, a snake robot is challenged by roll instability that increases with larger vertical body bending because of a higher center of mass. The instability can be reduced by body compliance that statistically increases surface contact. Despite the stability challenge, vertical body bending can potentially allow snakes to push against terrain for propulsion similar to lateral body bending, as demonstrated by corn snakes traversing an uneven arena. This ability to generate large propulsion was confirmed on a robot if body-terrain contact is well maintained. Contact feedback control can help the strategy accommodate perturbations such as novel terrain geometry or excessive external forces by helping the body regain lost contact. Our findings provide insights into how snakes and snake robots can use vertical body bending for efficient and versatile traversal of the three-dimensional world while maintaining stability

Biorobotics: Using robots to emulate and investigate agile animal locomotion

The graceful and agile movements of animals are difficult to analyze and emulate because locomotion is the result of a complex interplay of many components: the central and peripheral nervous systems, the musculoskeletal system, and the environment. The goals of biorobotics are to take inspiration from biological principles to design robots that match the agility of animals, and to use robots as scientific tools to investigate animal adaptive behavior. Used as physical models, biorobots contribute to hypothesis testing in fields such as hydrodynamics, biomechanics, neuroscience, and prosthetics. Their use may contribute to the design of prosthetic devices that more closely take human locomotion principles into account

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Kinematics and Hydrodynamics of Undulatory Locomotion in Hagfishes (Myxinidae) and Hagfish-like Robotic Models

Hagfishes have both intrigued and confused biologists since Linnaeus first mistakenly classified one as an "intestinal worm." Modern hagfishes (Myxinidae) are elongate, marine fishes often described by what they lack: jaws, scales, paired fins, or a vertebral column. Accompanying this reduced morphology was a long-held view that hagfish are lazy animals that mostly lay about on the ocean floor, but more recent research has revealed them to be active hunters and scavengers in the benthic community. Routine swimming is a requisite part of these activities, yet knowledge of how these exceptionally flexible fishes swim is limited. Here, I use an integrative experimental approach to provide a more comprehensive, quantitative understanding of locomotory mechanisms in hagfishes. In Chapters 1 and 2, I use high-speed videography to quantify whole-body kinematics of steady and unsteady swimming in Eptatretus stoutii and Myxine glutinosa, representing the two main lineages within Myxinidae. Both species generally swim with high amplitude head movements and use tail beat frequency to control swim speed, but inter- and intra-specific variation in other undulatory wave variables suggests multiple mechanisms to modulate speed. Changes in the shape of the body wave characterize the observed unsteady swimming behaviors. During positive linear accelerations, hagfish transiently adopt a larger, longer body wave. During lateral maneuvers, hagfish approximate “sidewinding” behavior as anterior body regions interact with the substrate while posterior body regions propagate waves of lateral bending toward the tail tip. Chapter 3 integrates kinematics with hydrodynamics, using particle image velocimetry to visualize the flow field around swimming E. stoutii. The steady swimming wake consists of caudolateral fluid jets, which turn caudally during linear accelerations. Wake jets orient asymmetrically during lateral swimming, contributing both forward and lateral thrust over a complete tail beat. The hydrodynamic patterns observed reinforce kinematics-based hypotheses on how hagfishes enact their various swimming behaviors. In Chapter 4, I use simple robotically-controlled physical models to examine functional relationships between body flexural stiffness, shape, kinematics, hydrodynamics, and swimming performance. I relate model swim performance to characteristics of hagfish swimming, and describe lessons that passively undulating models impart for understanding locomotion by live elongate undulatory swimmers