Integrative Biomimetics of Autonomous Hexapedal Locomotion

Dürr V, Arena PP, Cruse H, et al. Integrative Biomimetics of Autonomous Hexapedal Locomotion. Frontiers in Neurorobotics. 2019;13: 88.Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on disparate and conceptually disjunct research areas in the neurosciences and engineering sciences. We claim that the development of suitable robotic integration platforms is of particular relevance to make such integration of concepts work in practice. Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion. In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots—ranging from compliant actuation, distributed proprioception and control of multiple legs, the formation of internal representations to the use of an internal body model—we introduce the walking robot HECTOR as a research platform for integrative biomimetics of hexapedal locomotion. Owing to its 18 highly sensorized, compliant actuators, light-weight exoskeleton, distributed and expandable hardware architecture, and an appropriate dynamic simulation framework, HECTOR offers many opportunities to integrate research effort across biomimetics research on actuation, sensory-motor feedback, inter-leg coordination, and cognitive abilities such as motion planning and learning of its own body size

Fabrication of nanowires and nanostructures: combining template synthesis with patterning methods

We report on different approaches that we have adopted and developed for the fabrication of nanowires and nanostructures. Methods based on template synthesis and on self organization seem to be the most promising for the fabrication of nanomaterials and nanostructures due to their easiness and low cost. The development of a supported nanoporous alumina template and the possibility of using this template to combine electrochemical synthesis with lithographic methods open new ways for the fabrication of complex nanostructures. The numerous advantages of the supported template and its compatibility with microelectronic processes make it an ideal candidate for further integration into large-scale fabrication of various nanowire-based devices

Vertically Aligned Nanowires on Flexible Silicone using a Supported Alumina Template prepared by Pulsed Anodization

Carpets of vertically aligned nanowires on flexible substrates are successfully realized by a template method. Applying special pulsed anodization conditions, defect-free nanoporous alumina structures supported on polydimethylsiloxane (PDMS), a flexible silicone elastomer, are created. By using this template with nanopores ending on a conducting underlayer, a high-density nanowire array can be simply grown by direct DC-electrodeposition on the top of the silicone rubber

Nanowires and nanostructures fabrication using template methods: a step forward to real devices combining electrochemical synthesis with lithographic techniques

One of the great challenges of today is to find reliable techniques for the fabrication of nanomaterials and nanostructures. Methods based on template synthesis and on self organization are the most promising due to their easiness and low cost. This paper focuses on the electrochemical synthesis of nanowires and nanostructures using nanoporous host materials such as supported anodic aluminum considering it as a key template for nanowires based devices. New ways are opened for applications by combining such template synthesis methods with nanolithographic techniques

Characterization of nanopores ordering in anodic alumina

A simple characterization method of the ordering of the nanopores is described for nanoporous anodized aluminium oxides. The method starts with image analysis on scanning electron microscopy representations for the purpose to find repetitive shapes and their centres, i.e. nanopores. Then triangles defined by coordinates of the centres are identified by Delaunay tessellation. Evaluation of the ordering degrees is then performed by a two-level analysis of the triangles. We define order parameters for triangular and hexagonal organization levels and show through typical examples that they are highly sensitive on ordering. (c) 2007 Elsevier B.V. All rights reserved

Electrodeposited L1(0) CoxPt1-x nanowires

Arrays of face-centred cubic (fcc) CoxPt1-x (0.45 < x < 0.55) nanowires were electrodeposited into thin film nanoporous alumina supported on a Si substrate. The heat treatment under specific conditions was then carried out in order to transform the fcc phase into the face-centred tetragonal or L1(0) ordered phase. The influence of both the phase transition and the temperature on the magnetic properties of CoxPt1-x nanowires has been studied. Coercive fields higher than 1 T (10 kOe) have been obtained at room temperature with ordered nanowires, 80 nm in diameter

Electrochemical analysis of nanostructured iron oxides using cyclic voltammetry and scanning electrochemical microscopy

Iron oxides in general and especially hematite, ?-Fe2O3, have become promising materials for the alkaline water electrolysis and photoelectrochemical water splitting, respectively. In the present study electrocatalytic electrodes with a thin film of ?-Fe2O3 and with vertically aligned ?-Fe2O3 nanowires were prepared. Cyclic voltammograms of the ?-Fe2O3 nanowires revealed differences including a series of three unreported cathodic signals when compared to previously published voltammograms for polycrystalline iron oxides. The generation-collection mode of scanning electrochemical microscopy (SECM) using nanostructured Pt microdisc probes was exploited to detect soluble reaction products formed at the voltammetric peaks of the ?-Fe2O3 electrode. SECM tip-substrate voltammetry unexpectedly showed that the reduction of FeVI to FeIII on the cathodic sweep is accompanied by significant O2 evolution

Investigation of superconducting properties of nanowires prepared by template synthesis

We report on the transport properties of single superconducting lead nanowires grown by an electrodeposition technique, embedded in a nanoporous track-etched polymer membrane. The nanowires are granular, have a uniform diameter of similar to40 nm and a very large aspect ratio (similar to500). The diameter of the nanowires is small enough to ensure a one-dimensional superconducting regime in a wide temperature range below T-c. The non-zero resistance in the superconducting state and its variation caused by fluctuations of the superconducting order parameter were measured versus temperature, magnetic field, and applied dc current (or voltage). The current-induced breakdowns in the voltage-current characteristics may be explained by the formation of phase slip centres. Moreover, dc voltage driven measurements reveal the existence of a new S-shape behaviour near the formation of these phase slip centres