Biorobotics: Using robots to emulate and investigate agile locomotion

Ijspeert, Auke Jan

doi:10.1126/science.1254486

Cited by 375 publications

(200 citation statements)

References 95 publications

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“…1 Among underwater robots, swimming robots have significant potential for study of marine life, monitoring oceanic environments, and underwater operations. [2][3][4][5][6][7] As a specific sea creature, jellyfish has a soft body, which is found in the waters all over the world.…”

Section: Introductionmentioning

confidence: 99%

Towards a miniature self-propelled jellyfish-like swimming robot

Xiao

et al. 2016

International Journal of Advanced Robotic Systems

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Jellyfish uses jet propulsion to achieve a diversity of propulsion modes in the water. In this article, a miniature jellyfish-inspired swimming robot is designed and built, which is capable of executing horizontal and vertical propulsion and maneuvers. In order to imitate the jellyfish in terms of morphology and kinematics, the robotic jellyfish is designed to be comprised of a streamlined head, a cavity shell, four separate drive units with bevel gears, and a soft outer skin encasing the drive units. A combination of four six-bar linkage mechanisms that are centrally symmetric is adopted as the driver to regulate the phases of contraction and relaxation of the bell-shaped body. Furthermore, a triangle wave generator is incorporated to generate rhythmic drive signals, which is implemented on the microcontroller. Through independent and coordinated control of the four drive units, the robotic jellyfish is able to replicate various propulsion modes similar to real jellyfish. Aquatic tests on the actual robot verify the effectiveness of the formed design scheme along with the proposed control methods.

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Section: Introductionmentioning

confidence: 99%

Towards a miniature self-propelled jellyfish-like swimming robot

Xiao

et al. 2016

International Journal of Advanced Robotic Systems

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“…In the past few years, an abundance of scientific collaboration and prototype development has been undertaken in this field [1][2][3]. Indeed, biorobotics is increasingly contributing to scientific understanding of, and inspiration from, biological principles.…”

Section: Overview Of Biorobotic Systemsmentioning

confidence: 99%

“…In the opposite direction, biorobots have also served as important scientific tools in the investigation of animal locomotion, when used as physical models. Biorobots are employed in the testing of hypotheses since they are qualified for repeatable and parameterized experiments [1].…”

Section: Overview Of Biorobotic Systemsmentioning

confidence: 99%

Theoretical Insights on Contraction-Type Iterative Learning Control for Biorobotic Systems with Preisach Hysteresis

Wang

Zhou

et al. 2016

International Journal of Advanced Robotic Systems

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This article offers new insights on the learning control approach developed by [Hu et al. IEEE/ASME Trans. Mechatronics, 19(1): 191-200, 2014]. Theoretical insights are further proposed to unveil why the contraction-type iterative learning control (ILC) schemes are suitable and effective in compensating for hysteresis, widely existing in biorobotic locomotion. Under such circumstances, iteration-based second-order dynamics is adopted to describe the biorobotic systems acted upon by one unknown Preisach hysteresis term. The memory clearing operator is mathematically proven to enable feasibility of contractiontype ILC methods, regardless of whether the initial state is accurately set or not. The simulation examples confirm that the developed iteration-based controller combined with a preceded operator effectively reduce tracking errors caused by the hysteresis nonlinearity. Furthermore, the new insights on theoretical feasibility are definitively corroborated in accordance with the previously published experimental results.

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“…Researchers in biologically inspired robotics (Pfeifer et al, 2007) have typically looked for answers in biology, studying animals (Cacucciolo et al, 2014;Calisti et al, 2014Calisti et al, , 2015Ijspeert, 2014) and, more recently, plants (Pandolfi and Izzo, 2013;Hamann et al, 2015;Temirel et al, 2016;Sadeghi et al, 2017), with the aim of extracting general principles underlying the evolutionary success of these creatures, then applying these insights to the development of more effective and efficient robotic systems (Corucci et al, 2015a,b;Giorgio-Serchi et al, 2017). One product of this intellectual procedure is the soft robotics field (Rus and Tolley, 2015;Laschi et al, 2016), arising from the realization that the material characteristics of the body-and softness in particular-play a crucial role in the robust and adaptive behavior of biological and artificial creatures (Pfeifer et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

Evolutionary Developmental Soft Robotics As a Framework to Study Intelligence and Adaptive Behavior in Animals and Plants

et al. 2017

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In this paper, a comprehensive methodology and simulation framework will be reviewed, designed in order to study the emergence of adaptive and intelligent behavior in generic soft-bodied creatures. By incorporating artificial evolutionary and developmental processes, the system allows to evolve complete creatures (brain, body, developmental properties, sensory, control system, etc.) for different task environments. Whether the evolved creatures will resemble animals or plants is in general not known a priori, and depends on the specific task environment set up by the experimenter. In this regard, the system may offer a unique opportunity to explore differences and similarities between these two worlds. Different material properties can be simulated and optimized, from a continuum of soft/stiff materials, to the interconnection of heterogeneous structures, both found in animals and plants alike. The adopted genetic encoding and simulation environment are particularly suitable in order to evolve distributed sensory and control systems, which play a particularly important role in plants. After a general description of the system some case studies will be presented, focusing on the emergent properties of the evolved creatures. Particular emphasis will be on some unifying concepts that are thought to play an important role in the emergence of intelligent and adaptive behavior across both the animal and plant kingdoms, such as morphological computation and morphological developmental plasticity. Overall, with this paper, we hope to draw attention on set of tools, methodologies, ideas and results, which may be relevant to researchers interested in plant-inspired robotics and intelligence.

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Biorobotics: Using robots to emulate and investigate agile locomotion

Cited by 375 publications

References 95 publications

Towards a miniature self-propelled jellyfish-like swimming robot

Towards a miniature self-propelled jellyfish-like swimming robot

Theoretical Insights on Contraction-Type Iterative Learning Control for Biorobotic Systems with Preisach Hysteresis

Evolutionary Developmental Soft Robotics As a Framework to Study Intelligence and Adaptive Behavior in Animals and Plants

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