A fluid-driven soft robotic fish inspired by fish muscle architecture

Artificial fish-like robots developed to date often focus on the external morphology of fish and have rarely addressed the contribution of the structure and morphology of biological muscle. However, biological studies have proven that fish utilize the contraction of muscle fibers to drive the protective flexible connective tissue to swim. This paper introduces a pneumatic silicone structure prototype inspired by the red muscle system of fish and applies it to the fish-like robot named Flexi-Tuna. The key innovation is to make the fluid-driven units simulate the red muscle fiber bundles of fish and embed them into a flexible tuna-like matrix. The driving units act as muscle fibers to generate active contraction force, and the flexible matrix as connective tissue to generate passive deformation. Applying alternant pressure to the driving units can produce a bending moment, causing the tail to swing. As a result, the structural design of Flexi-Tuna has excellent bearing capacity compared with the traditional cavity-type and keeps the body smooth. On this basis, a general method is proposed for modeling the fish-like robot based on the independent analysis of the active and passive body, providing a foundation for Flexi-Tuna’s size design. Followed by the robot’s static and underwater dynamic tests, we used finite element static analysis and fluid numerical simulation to compare the results. The experimental results showed that the maximum swing angle of the tuna-like robot reached 20°, and the maximum thrust reached 0.185 N at the optimum frequency of 3.5 Hz. In this study, we designed a unique system that matches the functional level of biological muscles. As a result, we realized the application of fluid-driven artificial muscle to bionic fish and expanded new ideas for the structural design of flexible bionic fish.

Passive concentration dynamics incorporated into the library IB2d, a two-dimensional implementation of the immersed boundary method

In this paper, we present an open-source software library that can be used to numerically simulate the advection and diffusion of a chemical concentration or heat density in a viscous fluid where a moving, elastic boundary drives the fluid and acts as a source or sink. The fully- coupled fluid-structure interaction problem of an elastic boundary in a viscous fluid is solved using Peskin’s immersed boundary method. The addition or removal of the concentration or heat density from the boundary is solved using an immersed boundary-like approach in which the concentration is spread from the immersed boundary to the fluid using a regularized delta function. The concentration or density over time is then described by the advection-diffusion equation and numerically solved. This functionality has been added to our software library, IB2d, which provides an easy-to-use immersed boundary method in two dimensions with full implementations in MATLAB and Python. We provide four examples that illustrate the usefulness of the method. A simple rubber band that resists stretching and absorbs and releases a chemical concentration is simulated as a first example. Complete convergence results are presented for this benchmark case. Three more biological examples are presented: (1) an oscillating row of cylinders, representative of an idealized appendage used for filter-feeding or sniffing, (2) an oscillating plate in a background flow is considered to study the case of heat dissipation in a vibrating leaf, and (3) a simplified model of a pulsing soft coral where carbon dioxide is taken up and oxygen is released as a byproduct from the moving tentacles. This method is applicable to a broad range of problems in the life sciences, including chemical sensing by antennae, heat dissipation in plants and other structures, the advection-diffusion of morphogens during development, filter-feeding by marine organisms, and the release of waste products from organisms in flows.

Real-­time parametric estimation of periodic wake-­foil interactions using bioinspired pressure sensing and machine learning

Periodic wake-­foil interactions occur in the collective swimming of bio­inspired robots. Wake interaction pattern estimation (and control) is crucial to thrust enhancement and propulsive efficiency optimization. In this paper, we study the wake interaction pattern estimation of two flapping foils in tandem configurations. The experiments are conducted at a Reynolds number of 1.41×10^4 in a water channel. A modified wake-­foil phase parameter Φ, which unifies the influences of inter­foil distance Lx, motion phase difference ∆φ and wake convection velocity Uv, is introduced to describe the wake interaction patterns parametrically. We use a differential pressure sensor on the downstream foil to capture wake interaction characteristics. Data sets at different tandem configurations are collected. The wake-­foil phase Φ is used to label the pressure signals. A one ­dimensional convolutional neural networks (1D-CNN) model is used to learn an end­to­end mapping between the raw pressure measurements and the wake-­foil phase Φ. The trained 1D-­CNN model shows accurate estimations (average error 3.5%) on random wake interaction patterns and is fast enough (within 40 ms). Then the trained 1D ­CNN model is applied to online thrust enhancement control of a downstream foil swimming in a periodic wake. Synchronous force monitoring and flow visualization demonstrate the effectiveness of the 1D-­CNN model. The limitations of the model are discussed. The proposed approach can be applied to the online estimation and control of wake interactions in the collective swimming and flying of biomimetic robots.

Crab-inspired compliant leg design method for adaptive locomotion of a multi-legged robot

Chinese mitten crab has unique limb structures composed of a hard exoskeleton and flexible muscles. They enable the crab to locomote adaptively and safely on various terrains. In this work, we investigated the limb structures, motion principle, and gaits of the crab using a high-speed camera and a press machine. Then, a novel compliant robot leg design method is proposed, inspired by the crab limb. The leg comprises six hard scleromeres and a flexible thin-wall spring steel sheet (FSSS) mimicking the exoskeleton and muscle. The scleromeres connected one by one with rotational joints are designed with slots. The front end of the FSSS is fixed on the scleromere close to the ground. The rear end crosses the slots and is mounted at the shaft of a linear actuator installed at the rear scleromere. The leg bends and stretches when the actuator pushes and pulls the FSSS, respectively. The kinematic modeling, rigid-flexible coupling dynamic simulations, and leg prototype tests are conducted, which verify the leg design approach. Thirdly, we put forward a multi-legged robot with eight compliant legs and design its gait using the gaits of the crab. Finally, the robot’s performance is evaluated, including the capabilities of walking on different terrains at adjustable speeds and body heights, traversing low channels, walking on slopes, and carrying loads. The results prove that the single-motor-actuated compliant legs and their dynamic coupling with the rigid robot body frame can enable them to have the ground clearance ability and realize the adaptive walking of the robot. The leg design methodology can be used to design multi-legged robots with the merits of compact, light, low mechanical complexity, high safety, and easy to control, for many applications, such as environmental monitoring, search and rescue.

Design, analysis, and validation of an orderly recruitment valve for bio-inspired fluidic artificial muscles

Biological musculature employs variable recruitment of muscle fibers from smaller to larger units as the load increases. This orderly recruitment strategy has certain physiological advantages like minimizing fatigue and providing finer motor control. Recently fluidic artificial muscles (FAM) are gaining popularity as actuators due to their increased efficiency by employing these bio-inspired recruitment strategies such as active variable recruitment (AVR). AVR systems use a multi-valve system (MVS) configuration to selectively recruit individual FAMs depending on the load. However, when using an MVS configuration, an increase in the number of motor units in a bundle corresponds to an increase in the number of valves in the system. This introduces greater complexity and weight. The objective of this paper is to propose, analyze, and demonstrate an orderly recruitment valve (ORV) concept that enables orderly recruitment of multiple FAMs in the system using a single valve. A mathematical model of an ORV-controlled FAM bundle is presented and validated by experiments performed on an ORV prototype. The modeling is extended to explore a case study of a 1-DOF robot arm system consisting of an electrohydraulic pressurization system, ORV, and a FAM-actuated rotating arm plant and its dynamics are simulated to further demonstrate the capabilities of an ORV-controlled closed-loop system. An orderly recruitment strategy was implemented through a model-based feed forward controller. To benchmark the performance of the ORV, a conventional MVS with equivalent dynamics and controller was also implemented. Trajectory tracking simulations on both the systems revealed lower tracking error for the ORV controlled system compared to the MVS controlled system due to the unique cross-flow effects present in the ORV. However, the MVS, due to its independent and multiple valve setup, proved to be more adaptable for performance. For example, modifications to the recruitment thresholds of the MVS demonstrated improvement in tracking error, albeit with a sacrifice in efficiency. In the ORV tracking performance remained insensitive to any variation in recruitment threshold. The results show that compared to the MVS, the ORV offers a simpler and more compact valving architecture at the expense of moderate losses in control flexibility and performance.

Fully-printed metamaterial-type flexible wings with controllable flight characteristics

Insect wings are an outstanding example of how a proper interplay of rigid and flexible materials enables an intricate flapping flight accompanied by sound. The understanding of the aerodynamics and acoustics of insect wings have enabled the development of man-made flying robotic vehicles and explained basic mechanisms of sound generation by natural flyers. This work proposes the concept of artificial wings with a periodic pattern, inspired by metamaterials, and explores how the pattern geometry can be used to control the aerodynamic and acoustic characteristics of the wing. For this, we analyzed bio-inspired wings with anisotropic honeycomb patterns flapping at a low frequency and developed a multi-parameter optimization procedure to tune the pattern design in order to increase lift and, simultaneously, manipulate the produced sound. Our analysis is based on the finite-element solution to a transient three-dimensional fluid-structure interactions problem. The two-way coupling is described by incompressible Navier-Stokes equations for viscous air and structural equations of motion for a wing undergoing large deformations. We manufactured three wing samples by means of 3D printing and validated their robustness and dynamics experimentally. Importantly, we showed that the proposed wings can sustain long-term resonance excitation that opens a possibility to implement resonance-type flights inherent to certain natural flyers. Our results confirm the feasibility of the metamaterial patterns to control the flapping flight dynamics and can open new perspectives for applications of 3D-printed patterned wings, e.g., in the design of drones with the target sound.

An insect-scale robot reveals the effects of different body dynamics regimes during open-loop running in feature-laden terrain

The transition from the lab to natural environments is an archetypal challenge in robotics. While larger robots can manage complex limb-ground interactions using sensing and control, such strategies are difficult to implement on small platforms where space and power are limited. The Harvard Ambulatory Microrobot (HAMR) is an insect-scale quadruped capable of effective open-loop running on featureless, hard substrates. Inspired by the predominantly feedforward strategy of rapidly-running cockroaches on uneven terrain [Sponberg, 2007], we used HAMR to explore open-loop running on two 3D printed heterogeneous terrains generated using fractional Brownian motion. The ``pocked'' terrain had foot-scale features throughout while the ``jagged'' terrain features increased in height in the direction of travel. We measured the performance of trot and pronk gaits while varying limb amplitude and stride frequency. The frequencies tested encompassed different dynamics regimes: body resonance (10-25~Hz) and kinematic running (30-40~Hz), with dynamics typical of biological running and walking, respectively, and limb-transmission resonance (45-60~Hz). On the featureless and pocked terrains, low mechanical cost-of-transport (mCoT) kinematic running combinations performed best without systematic differences between trot and pronk; indicating that if terrain features are not too tall, a robot can transition from homo- to heterogeneous environments in open-loop. Pronk bypassed taller features than trot on the jagged terrain, and higher mCoT, lower frequency running was more often effective. While increasing input power to the robot improved performance in general, lower frequency pronking on jagged terrain allowed the robot to bypass taller features compared with the same input power at higher frequencies. This was correlated with the increased variation in center-of-mass orientation occurring at frequencies near body resonance. This study established that appropriate choice of robot dynamics, as mediated by gait, frequency, and limb amplitude, can expand the terrains accessible to microrobots without the addition of sensing or closed-loop control.

A straightforward and miniature implementation method of postural synergies for replicating human grasp characteristics accurately and intuitively

The postural synergies have great potentials to replicate human grasp characteristics, simplify grasp control and reduce the number of hardware needed actuators. However, due to the complex mapping relationship and jagged transmission ratio, the implemented mechanisms are always too bulky and loose which greatly limits its application. For current solutions, the replicating accuracy of motion characteristics or control intuition are compromised, and hitherto no work reports the replicating errors in literatures. To overcome these limitations, we present a novel design framework to determine the actuation configuration, implemented scheme and physical parameters. In this way, the mechanism is miniaturized and can be compactly embedded in hand palm, a self-contained synergy robot hand that integrated with mechanism, sensors and suited electrical system is built. The experiments demonstrate that the robot hand can accurately replicate the motion characteristics of two primary synergies, keep the control intuition to simplify grasp control, perform a better anthropomorphic motion capability and grasp different objects with versatile grasp functionality.

A model-based strategy for quadruped running with differentiated fore- and hind leg morphologies

This article introduces a model-based strategy for a quadruped robot with differentiated fore- and hind-leg ground reaction-force patterns to generate animal-like running behavior. The proposed model comprises a rigid body and two eSLIP legs with dampers. The eccentric-SLIP (eSLIP) model extends the traditional spring-loaded inverted pendulum (SLIP) model by adding a bar to offset the spring direction. The proposed two-leg eSLIP (TL-eSLIP) model’s fore- and hind legs were designed to have the same offset magnitude but in opposite offset directions, producing different braking and thrusting force patterns. The TL-eSLIP model’s reference leg trajectories were designed based on the fixed-point motion of the eSLIP model. Additionally, the legs were clock torque-controlled to modulate leg motion and stabilize the model to follow its natural dynamics. The model’s equations for motion were derived, and the model’s dynamic behavior was simulated and analyzed. The simulation results indicate that the model with leg offsets and in either trotting or pronking has differentiated leg force patterns, and it is more stable and has larger basins of attraction than the model without leg offsets. A quadruped robot was built for experimental validation. The experimental results demonstrate that the robot with differentiated legs ran with differentiated ground reaction force patterns and ran more stably than another robot with the same leg morphology.