Biologically Inspired Robotics

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Brown Jr. McMordie, U. Saranli, R. Koditschek: RHex: A biologically inspired hexapod runner, Auton. McGeer: Passive dynamic walking, Int. Goswami, B. Thuilot, B. Espiau: A study of the passive gait of a compass-like biped robot: Symmetry and chaos, Int. Hobbelen, M. Robotics 24 2 , — CrossRef Google Scholar. Hass, J. Herrmann, T. Geisel: Optimal mass distrib- ution for passivity-based bipedal robots, Int.

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  1. Bioinspired robots: Examples and the state of the art | Science | AAAS?
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Steingrube, M. Timme, F. Manoonpong: Self-organized adaptation of simple neural circuits enables complex robot behavior, Nat. Geng, B. Porr, F. Manoonpong, T. Geng, T. Kulvicius, B. Narioka, K. Hosoda: Motor development of an pneumatic musculoskeletal infant robot, Proc. IEEE Int. Robotics Autom. ICRA pp. Pratt, M. Williamson: Series elastic actuators, Proc. Robots Syst. Albu-Schaffer, O. Eiberger, M. Grebenstein, S. Haddadin, C. Ott, T. Wimbock, S. Wolf, G.

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Ijspeert: Central pattern generators for locomotion control in animals and robots: A review, Neural Netw. Cruse, T. Kindermann, M. Schumm, J. Dean, J.

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    A slippery world in bio-inspired robotics

    Wilbur, W. Vorus, Y. Cao, S. Currie: A lamprey-based undulatory vehicle. In: Neurotechnology for Biomimetic Robots , ed. Ayers, J. Davis, A. Kimura, S. Akiyama, K. Sakurama: Realization of dynamic walking and running of the quadruped using neural oscillators, Auton. Robots 7 3 , — CrossRef Google Scholar. Kimura, Y. Fukuoka, A. Cohen: Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts, Int.

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    Israeli Lab Creates Bio-Inspired Robots

    Endo, J. Righetti, A.

    Biologically Inspired Robotics | SpringerLink

    Ijspeert: Programmable central pattern generators: An application to biped locomotion control, Proc. Robotics 24 1 , — CrossRef Google Scholar. Floreano, J. Zufferey, M. Srinivasan, C. Ellington Eds. Franceschini, J. Pichon, C. Blanes: From insect vision to robot vision, Philos. Zufferey, D. Robotics 22 1 , — CrossRef Google Scholar. He collaborates with a number of different engineers and other scientists to elucidate biological principles that inspire the design of advanced robotic components, control algorithms, and novel system designs.

    At Harvard University, Rob Wood also develops novel robotic mechanisms at very small scales [5, 6]. His work uses microfabrication techniques to develop biologically inspired robots with features on the micrometer to centimeter scales. His specific interests include new micro- and mesoscale manufacturing techniques, fluid mechanics of flapping wings, control of sensor-limited and computation-limited systems, active soft materials, and morphable soft-bodied robots. In addition to novel designs and methods for constructing robot morphologies, biology also inspires us to design improved software to enable robots to better interact with complex environments.

    Shigeo Hirose is one of the early pioneers in the creation of numerous biologically inspired robotic systems that specialize in weaving their way through complex terrains. He is probably best known for his original work on serpentine locomotion, both analyzing the fundamental physics governing how biological snakes move as well as employing the lessons learned therein to create and control numerous mechanisms over the years [7].

    He has played a major role in several seminal works in the area of bioinspired robots throughout his career many in collaboration with Bob Full. In addition, he has overseen the construction of biologically inspired robots that have helped roboticists better understand mechanized locomotion as well as offered biologists better insight into the natural world.

    Moreover, Koditschek and Full developed the concept of templates and anchors, a now-ubiquitous method for abstracting the motion of complex systems. Related to the work by Full and Koditschek, the incorporation of compliance in robot mechanisms and control design can also be attributed to Gill Pratt. Pratt, in part, developed a new paradigm for robotic actuation—the series elastic actuator—as well controllers that employ this technology [10]. This work has directly affected and certainly inspired several generations of robotic devices with different morphologies that move by slithering, crawling, and walking.

    Two projects that are particularly relevant to the study of biologically inspired robots are those that consider the Roboclam and the Robosnail. Both systems were constructed using direct biological inspiration aimed at practical real-world applications. Robotic devices have a considerable advantage over studying live fish in the sense that a variety of programmable motions permit the careful investigation of the discrete components of naturally coupled movements. His group looks investigates how organisms like lizards, crabs, and cockroaches generate appropriate musculoskeletal dynamics to scurry rapidly over substrates like sand, bark, leaves, and grass.

    Noah Cowan has also applied and made novel advances in the application of control theory to the study of sensorimotor control of animal movement [18, 19]. He and his collaborators study weakly electric fish as well as cockroach antennae. Finally, A. His group is interested in using robots and numerical simulation to study the neural mechanisms underlying movement control and learning in animals.

    In the Biorobotics lab at Carnegie Mellon, inspiration has also been drawn from the works of J. Ostrowski and S. Kelly that employ concepts form the field of geometric mechanics to the study of undulatory locomotion []. In their respective works, Ostrowski and Kelly perform mathematical modeling, analysis, simulation, and control of systems that exhibit nonlinear dynamics. Former CMU student Elie Shammas, now faculty at the American University of Beirut, took this early work and developed visualization tools that enable intuition to guide the design of gaits for idealized articulated systems.

    Ross Hatton, who succeeded Shammas, took this work to the next level, generating results at the interface of robotics and applied mechanics [27, 28]. For Instructors Request Inspection Copy. Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control.

    A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human—machine interactions. A state-of-the-art resource for graduate students and researchers in th Table of Contents Introduction to Biologically Inspired Robotics.

    Analysis and Design of a Bionic Fitness Cycle. Human-Inspired Hyperdynamic Manipulation. Automatic Single-Cell Transfer Module. Nanorobotic Manipulation for a Single Biological Cell.

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