Table of contents

The performance of man-made materials can be improved by exploring new structures inspired by the architecture of biological materials. Natural materials, such as nacre (mother-of-pearl), can have outstanding mechanical properties due to their complicated architecture and hierarchical structure at the nano-, micro- and meso-levels which have evolved over millions of years. This review describes the numerous experimental methods explored to date to produce composites with structures and mechanical properties similar to those of natural nacre. The materials produced have sizes ranging from nanometres to centimetres, processing times varying from a few minutes to several months and a different range of mechanical properties that render them suitable for various applications. For the first time, these techniques have been divided into those producing bulk materials, coatings and free-standing films. This is due to the fact that the material's application strongly depends on its dimensions and different results have been reported by applying the same technique to produce materials with different sizes. The limitations and capabilities of these methodologies have been also described.

Autonomous decentralized control is a key concept for understanding the mechanism underlying adaptive and versatile locomotion of animals. Although the design of an autonomous decentralized control system that ensures adaptability by using coupled oscillators has been proposed previously, it cannot comprehensively reproduce the versatility of animal behaviour. To tackle this problem, we focus on using ophiuroids as a simple model that exhibits versatile locomotion including periodic and non-periodic arm movements. Our existing model for ophiuroid locomotion uses an active rotator model that describes both oscillatory and excitatory properties. In this communication, we develop an ophiuroid robot to confirm the validity of this proposed model in the real world. We show that the robot travels by successfully coordinating periodic and non-periodic arm movements in response to external stimuli.

Traditional micro air vehicles (MAVs) are miniature versions of full-scale aircraft from which their design principles closely follow. The first step in aircraft design is the development of a conceptual design, where basic specifications and vehicle size are established. Conceptual design methods do not rely on specific knowledge of the propulsion system, vehicle layout and subsystems; these details are addressed later in the design process. Non-traditional MAV designs based on birds or insects are less common and without well-established conceptual design methods. This paper presents a conceptual design process for hovering flapping-wing vehicles. An energy-based accounting of propulsion and aerodynamics is combined with a one degree-of-freedom dynamic flapping model. Important results include simple analytical expressions for flight endurance and range, predictions for maximum feasible wing size and body mass, and critical design space restrictions resulting from finite wing inertia. A new figure-of-merit for wing structural-inertial efficiency is proposed and used to quantify the performance of real and artificial insect wings. The impact of these results on future flapping-wing MAV designs is discussed in detail.

The dynamics of the center of mass (CoM) in the sagittal plane in humans and animals during running is well described by the spring-loaded inverted pendulum (SLIP). With appropriate parameters, SLIP running patterns are stable, and these models can recover from perturbations without the need for corrective strategies, such as the application of additional forces. Rather, it is sufficient to adjust the leg to a fixed angle relative to the ground. In this work, we consider the extension of the SLIP to three dimensions (3D SLIP) and investigate feed-forward strategies for leg adjustment during the flight phase. As in the SLIP model, the leg is placed at a fixed angle. We extend the scope of possible reference axes from only fixed horizontal and vertical axes to include the CoM velocity vector as a movement-related reference, resulting in six leg-adjustment strategies. Only leg-adjustment strategies that include the CoM velocity vector produced stable running and large parameter domains of stability. The ability of the model to recover from perturbations along the direction of motion (directional stability) depended on the strategy for lateral leg adjustment. Specifically, asymptotic and neutral directional stability was observed for strategies based on the global reference axis and the velocity vector, respectively. Additional features of velocity-based leg adjustment are running at arbitrary low speed (kinetic energy) and the emergence of large domains of stable 3D running that are smoothly transferred to 2D SLIP stability and even to 1D SLIP hopping. One of the additional leg-adjustment strategies represented a large convex region of parameters where stable and robust hopping and running patterns exist. Therefore, this strategy is a promising candidate for implementation into engineering applications, such as robots, for instance. In a preliminary comparison, the model predictions were in good agreement with the experimental data, suggesting that the 3D SLIP is an appropriate model to describe human running in three dimensions. The prediction of stable running based on movement-related leg-adjustment strategies indicates that both humans and robots may not require external targets directing the movement to run in three dimensions based on compliant leg function. This new movement-based reference enables the control of 3D running because leg adjustment is less sensitive and gait stability is separated from directional stability.

A flap mounted on the upper surface of an airfoil, called a 'lift-enhancing effector', has been shown in wind tunnel tests to have a similar function to a bird's covert feathers, which rise off the wing's surface in response to separated flows. The effector, fabricated from a thin Mylar sheet, is allowed to rotate freely about its leading edge. The tests were performed in the NCSU subsonic wind tunnel at a chord Reynolds number of 4 × 10⁵. The maximum lift coefficient with the effector was the same as that for the clean airfoil, but was maintained over an angle-of-attack range from 12° to almost 20°, resulting in a very gentle stall behavior. To better understand the aerodynamics and to estimate the deployment angle of the free-moving effector, fixed-angle effectors fabricated out of stiff wood were also tested. A progressive increase in the stall angle of attack with increasing effector angle was observed, with diminishing returns beyond the effector angle of 60°. Drag tests on both the free-moving and fixed effectors showed a marked improvement in drag at high angles of attack. Oil flow visualization on the airfoil with and without the fixed-angle effectors proved that the effector causes the separation point to move aft on the airfoil, as compared to the clean airfoil. This is thought to be the main mechanism by which an effector improves both lift and drag. A comparison of the fixed-effector results with those from the free-effector tests shows that the free effector's deployment angle is between 30° and 45°. When operating at and beyond the clean airfoil's stall angle, the free effector automatically deploys to progressively higher angles with increasing angles of attack. This slows down the rapid upstream movement of the separation point and avoids the severe reduction in the lift coefficient and an increase in the drag coefficient that are seen on the clean airfoil at the onset of stall. Thus, the effector postpones the stall by 4–8° and makes the stall behavior more gentle. The benefits of using the effector could include care-free operations at high angles of attack during perching and maneuvering flight, especially in gusty conditions.

With the overall goal being a better understanding of the sensing environment from the local perspective of a situated agent, we studied uniform flows and Kármán vortex streets in a frame of reference relevant to a fish or swimming robot. We visualized each flow regime with digital particle image velocimetry and then took local measurements using a rigid body with laterally distributed parallel pressure sensor arrays. Time and frequency domain methods were used to characterize hydrodynamically relevant scenarios in steady and unsteady flows for control applications. Here we report that a distributed pressure sensing mechanism has the capability to discriminate Kármán vortex streets from uniform flows, and determine the orientation and position of the platform with respect to the incoming flow and the centre axis of the Kármán vortex street. It also enables the computation of hydrodynamic features which may be relevant for a robot while interacting with the flow, such as vortex shedding frequency, vortex travelling speed and downstream distance between vortices. A Kármán vortex street was distinguished in this study from uniform flows by analysing the magnitude of fluctuations present in the sensor measurements and the number of sensors detecting the same dominant frequency. In the Kármán vortex street the turbulence intensity was 30% higher than that in the uniform flow and the sensors collectively sensed the vortex shedding frequency as the dominant frequency. The position and orientation of the sensor platform were determined via a comparative analysis between laterally distributed sensor arrays; the vortex travelling speed was estimated via a cross-correlation analysis among the sensors.

In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of heel-off in walking are analysed and discrepancies between the template model and its real-world anchor are pointed out. Neither extending the ground clearance of the swinging leg nor an impact reduction at touch-down as an effect of heel lifting was supported by the experiments. To confirm the relevance of the experimental findings, a comparison of robot data to human walking data is discussed and we speculate on an alternative explanation of heel-off in human walking, i.e. that the push-off powers the following leg swing.

This paper presents the design of a bat-like micro aerial vehicle with actuated morphing wings. NiTi shape memory alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. Our objective is twofold. Firstly, we have implemented a control architecture that allows an accurate and fast SMA actuation. This control makes use of the electrical resistance measurements of SMAs to adjust morphing wing motions. Secondly, the feasibility of using SMA actuation technology is evaluated for the application at hand. To this purpose, experiments are conducted to analyze the control performance in terms of nominal and overloaded operation modes of the SMAs. This analysis includes: (i) inertial forces regarding the stretchable wing membrane and aerodynamic loads, and (ii) uncertainties due to impact of airflow conditions over the resistance–motion relationship of SMAs. With the proposed control, morphing actuation speed can be increased up to 2.5 Hz, being sufficient to generate lift forces at a cruising speed of 5 m s⁻¹.

This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities.

Inspired by the observation that the cockroach changes from a tripod gait to a different gait for climbing high steps, we report on the design and implementation of a novel, fully autonomous step-climbing maneuver, which enables a RHex-style hexapod robot to reliably climb a step up to 230% higher than the length of its leg. Similar to the climbing strategy most used by cockroaches, the proposed maneuver is composed of two stages. The first stage is the 'rearing stage,' inclining the body so the front side of the body is raised and it is easier for the front legs to catch the top of the step, followed by the 'rising stage,' maneuvering the body's center of mass to the top of the step. Two infrared range sensors are installed on the front of the robot to detect the presence of the step and its orientation relative to the robot's heading, so that the robot can perform automatic gait transition, from walking to step-climbing, as well as correct its initial tilt approaching posture. An inclinometer is utilized to measure body inclination and to compute step height, thus enabling the robot to adjust its gait automatically, in real time, and to climb steps of different heights and depths successfully. The algorithm is applicable for the robot to climb various rectangular obstacles, including a narrow bar, a bar and a step (i.e. a bar of infinite width). The performance of the algorithm is evaluated experimentally, and the comparison of climbing strategies and climbing behaviors in biological and robotic systems is discussed.

Chromatophores are the pigment-containing cells in the skins of animals such as fish and cephalopods which have chromomorphic (colour-changing) and controllable goniochromic (iridescent-changing) properties. These animals control the optical properties of their skins for camouflage and, it is speculated, for communication. The ability to replicate these properties in soft artificial skin structures opens up new possibilities for active camouflage, thermal regulation and active photovoltaics. This paper presents the design and implementation of soft and compliant artificial chromatophores based on the cutaneous chromatophores in fish and cephalopods. We demonstrate artificial chromatophores that are actuated by electroactive polymer artificial muscles, mimicking the radially orientated muscles found in natural chromatophores. It is shown how bio-inspired chromomorphism may be achieved using both areal expansion of dielectric elastomer structures and by the hydrostatic translocation of pigmented fluid into an artificial dermal melanophore.

Recent results have demonstrated that pulsed-jet propulsion can achieve propulsive efficiency greater than that for steady jets when short, high frequency pulses are used, and the pulsed-jet advantage increases as Reynolds number decreases into the intermediate range (∼50). An important aspect of propulsive performance, however, is the vehicle configuration. The nozzle configuration influences the jet speed and, in the case of pulsed-jets, the formation of the vortex rings with each jet pulse, which have important effects on thrust. Likewise, the hull configuration influences the vehicle speed through its effect on drag. To investigate these effects, several flow inlet, nozzle, and hull tail configurations were tested on a submersible, self-propelled pulsed-jet vehicle ('Robosquid' for short) for jet pulse length-to-diameter ratios (L/D) in the range 0.5–6 and pulsing duty cycles (St_L) of 0.2 and 0.5. For the configurations tested, the vehicle Reynolds number (Re_υ) ranged from 25 to 110. In terms of propulsive efficiency, changing between forward and aft-facing inlets had little effect for the conditions considered, but changing from a smoothly tapered aft hull section to a blunt tail increased propulsive efficiency slightly due to reduced drag for the blunt tail at intermediate Re_υ. Sharp edged orifices also showed increased vehicle velocity and propulsive efficiency in comparison to smooth nozzles, which was associated with stronger vortex rings being produced by the flow contraction through the orifice. Larger diameter orifices showed additional gains in propulsive efficiency over smaller orifices if the rate of mass flow was matched with the smaller diameter cases, but using the same maximum jet velocity with the larger diameter decreased the propulsive efficiency relative to the smaller diameter cases.

In this study, a fabrication method for biologically inspired superhydrophobic micro- and nano-structured tier surfaces, each made of a self-assembled copper oxide, is presented. The method is controllable and applicable to bulk production when compared to existing high-end fabrication techniques. By modulating wet chemistry, different shapes and scales of tier structures were created. We demonstrated that their wetting behaviors are closely related to morphological information such as pitch, height and shape. To characterize their wetting behaviors, several experiments were designed and executed. In static water contact angle (WCA) measurements, morphological modulation led to wide WCA range (17°–95°). After hydrophobic self-assembly monolayer of 1-dodecanethiol, their WCA was escalated into superhydrophobic regime. In dynamic WCA, the contact angle hysteresis is greatly reduced by hybridizing the micro- and nano-tier (multiple tiers) when compared to utilizing a single tier. Also, the modification of the surface structure influences the rate of evaporation. In an analytical approach, the multiple tiers show a lower surface free energy compared to that of the single tier. By hybridizing different scales and shapes of tiers–such as hemispheric and conic shapes–the multiple tiers can efficiently reduce the surface energy barrier. Eventually, these manipulations lead to a subtle WCA hysteresis during the liquid motion testing. The analytical results are consistent with the dynamic WCA measurements. The multiple tiers also stabilize the Cassie regime and result in an increased hydrophobicity, which is more than when a single tier is employed.

We implement a mackerel (Scomber scombrus) body-shaped robot, programmed to display the three most typical body/caudal fin undulatory kinematics (i.e. anguilliform, carangiform and thunniform), in order to biomimetically investigate hydrodynamic issues not easily tackled experimentally with live fish. The robotic mackerel, mounted on a servo towing system and initially at rest, can determine its self-propelled speed by measuring the external force acting upon it and allowing for the simultaneous measurement of power, flow field and self-propelled speed. Experimental results showed that the robotic swimmer with thunniform kinematics achieved a faster final swimming speed (St = 0.424) relative to those with carangiform (St = 0.43) and anguilliform kinematics (St = 0.55). The thrust efficiency, estimated from a digital particle image velocimetry (DPIV) flow field, showed that the robotic swimmer with thunniform kinematics is more efficient (47.3%) than those with carangiform (31.4%) and anguilliform kinematics (26.6%). Furthermore, the DPIV measurements illustrate that the large-scale characteristics of the flow pattern generated by the robotic swimmer with both anguilliform and carangiform kinematics were wedge-like, double-row wake structures. Additionally, a typical single-row reverse Karman vortex was produced by the robotic swimmer using thunniform kinematics. Finally, we discuss this novel force-feedback-controlled experimental method, and review the relative self-propelled hydrodynamic results of the robot when utilizing the three types of undulatory kinematics.

Over the last few years, an increasing number of publications has shown that living organisms are very effective in finding solutions to complex mathematical problems which usually demand large computation resources. The plasmodium of the slime mould Physarum polycephalum is a successful example that has been used to solve path-finding problems on graphs and combinatorial problems. Cellular automata (CAs) computational model can capture the essential features of systems in which global behavior emerges from the collective effect of simple components, which interact locally (emergent computation). We developed a CA that models exactly the Physarum's behavior and applied it in finding the minimum-length path between two points in a labyrinth, as well as in solving a path-planning problem by guiding the development of adaptive networks, as in the case of the actual rail network of Tokyo. The CA results are in very good agreement with the computation results produced by the living organism experiments in both cases. Moreover, our CA hardware implementation results in faster and more effective computation performance, because of its inherent parallel nature. Consequently, our CA, implemented both in software and hardware, can serve as a powerful and low-cost virtual laboratory that models the slime mould Physarum's computation behavior.

The Mexican jumping bean, Laspeyresia saltitans, consists of a hollow seed housing a moth larva. Heating by the sun induces movements by the larva which appear as rolls, jumps and flips by the bean. In this combined experimental, numerical and robotic study, we investigate this unique means of rolling locomotion. Time-lapse videography is used to record bean trajectories across a series of terrain types, including one-dimensional channels and planar surfaces of varying inclination. We find that the shell encumbers the larva's locomotion, decreasing its speed on flat surfaces by threefold. We also observe that the two-dimensional search algorithm of the bean resembles the run-and-tumble search of bacteria. We test this search algorithm using both an agent-based simulation and a wheeled Scribbler robot. The algorithm succeeds in propelling the robot away from regions of high temperature and may have application in biomimetic micro-scale navigation systems.

Braitenberg vehicles have been used experimentally for decades in robotics with limited empirical understanding. This paper presents the first mathematical model of the vehicle 2b, displaying so-called aggression behaviour, and analyses the possible trajectories for point-like smooth stimulus sources. This sensory-motor steering control mechanism is used to implement biologically grounded target approach, target-seeking or obstacle-avoidance behaviour. However, the analysis of the resulting model reveals that complex and unexpected trajectories can result even for point-like stimuli. We also prove how the implementation of the controller and the vehicle morphology interact to affect the behaviour of the vehicle. This work provides a better understanding of Braitenberg vehicle 2b, explains experimental results and paves the way for a formally grounded application on robotics as well as for a new way of understanding target seeking in biology.

In this paper, the lateral line trunk canal (LLTC) of a fish is modeled to investigate how it is affected by an external flow field. Potential flow theory is adopted to model the flow field around a fish's body in the presence of a Karman vortex street. Karman and reverse Karman streets represent the flow patterns behind a bluff body and a traveling fish, respectively. An analytical solution is obtained for a flat body, while a fish-like body is modeled using a Joukowski transformation and the corresponding equations are solved numerically. The pressure distribution on the body surface is then computed employing Bernoulli's equation. For a known external flow, the flow inside the LLTC is driven by the pressure gradient between a pair of consecutive pores, which can be solved analytically. Governing dimensionless parameters are obtained from this analytical solution, and the effects of these numbers on the amplitude or features of the velocity distribution inside the canal are studied. The results show that the main characteristics of a vortex street including the magnitude of vortices, their translational speed, their spacing, their distance from the fish's body and the angle of the vortex street axis can all be recovered by measuring the velocity distribution along the canal and its changes with time. To this end, the proposed LLTC model could explain how a fish identifies the characteristics of a Karman vortex street shed by a nearby object or a traveling fish. It is also demonstrated that while this model captures the ac (alternating current) component of the external velocity signal, the dc (direct current) component of the signal is filtered out. Based on the results of our model, the role of the LLTC in a fish's schooling and its evolutionary impact on fish sensing are discussed.

A novel dual-differential four-bar flapping mechanism that can accurately emulate insect wing kinematics in all three degrees of freedom (translation, rotation and stroke plane deviation) is developed. The mechanism is specifically designed to be simple and scalable such that it can be utilized on an insect-based flapping wing micro air vehicle. Kinematic formulations for the wing stroke position, pitch angle and coning angle for this model are derived from first principles and compared with a 3D simulation. A benchtop flapping mechanism based on this model was designed and built, which was also equipped with a balance for force measurements. 3D motion capture tests were conducted on this setup to demonstrate the capability of generating complex figure-of-eight flapping motions along with dynamic pitching. The dual-differential four-bar mechanism was implemented on a light-weight vehicle that demonstrated tethered hover.

Frogs are capable of impressive feats of jumping and swimming. Recent work has shown that anuran hind limb muscles can operate at lengths longer than the 'optimal length'. To address the implications of muscle operating length on muscle power output and swimming mechanics, we built a robotic frog hind limb model based upon Xenopus laevis. The model simulated the force–length and force–velocity properties of vertebrate muscle, within the skeletal environment. We tested three muscle starting lengths, representing long, optimal and short starting lengths. Increasing starting length increased maximum muscle power output by 27% from 98.1 W kg⁻¹ when muscle begins shortening from the optimal length, to 125.1 W kg⁻¹ when the muscle begins at longer initial lengths. Therefore, longer starting lengths generated greater hydrodynamic force for extended durations, enabling faster swimming speeds of the robotic frog. These swimming speeds increased from 0.15 m s⁻¹ at short initial muscle lengths, to 0.39 m s⁻¹ for the longest initial lengths. Longer starting lengths were able to increase power as the muscle's force–length curve was better synchronized with the muscle's activation profile. We further dissected the underlying components of muscle force, separating force–length versus force–velocity effects, showing a transition from force–length limitations to force–velocity limitations as starting length increased.

Recently developed bioinspired robots imitate their live counterparts in both aspect and functionality. Nevertheless, whether these devices can be integrated within the ecological niche inspiring their design is seldom tested experimentally. An elemental research question concerns the feasibility of modulating spontaneous behaviour of animal systems through bioinspired robotics. The following study explores the possibility of engineering a robotic fish capable of influencing the behaviour of live zebrafish (Danio rerio) in a dichotomous preference test. While we observe that the preference for the robotic fish never exceeds the preference for a conspecific, our data show that the robot is successful in attracting both isolated individuals and small shoals and that such capability is influenced by its bioinspired features. In particular, we find that the robot's undulations enhance its degree of attractiveness, despite the noise inherent in the actuation system. This is the first experimental evidence that live zebrafish behaviour can be influenced by engineered robots. Such robotic platforms may constitute a valuable tool to investigate the bases of social behaviour and uncover the fundamental determinants of animal functions and dysfunctions.

An insect can perform various flight maneuvers. However, the aerodynamic force generated by real insect wings during free flight has never been measured directly. In this study, we present the direct measurement of the four points of the differential pressures acting on the wing surface of a flying insect. A small-scale differential pressure sensor of 1.0 mm × 1.0 mm × 0.3 mm in size was developed using microelectromechanical systems (MEMS) and was attached to a butterfly wing. Total weight of the sensor chip and the flexible electrode on the wing was 4.5 mg, which was less than 10% of the wing weight. Four points on the wing were chosen as measurement points, and one sensor chip was attached in each flight experiment. During takeoff, the wing's flapping motion induced a periodic and symmetric differential pressure between upstroke and downstroke. The average absolute value of the local differential pressure differed significantly with the location: 7.4 Pa at the forewing tip, 5.5 Pa at the forewing center, 2.1 Pa at the forewing root and 2.1 Pa at the hindwing center. The instantaneous pressure at the forewing tip reached 10 Pa, which was ten times larger than wing loading of the butterfly.

Neuronal stimulation is an intricate part of understanding insect flight behavior and control insect itself. In this study, we investigated the effects of electrical pulses applied to the brain and basalar muscle of the rhinoceros beetle (Trypoxylus dichotomus). To understand specific neuronal stimulation mechanisms, responses and flight behavior of the beetle, four electrodes were implanted into the two optic lobes, the brain's central complex and the ventral nerve cord in the posterior pronotum. We demonstrated flight initiation, turning and cessation by stimulating the brain. The change undergone by the wing flapping in response to the electrical signal was analyzed from a sequence of images captured by a high-speed camera. Here, we provide evidence to distinguish the important differences between neuronal and muscular flight stimulations in beetles. We found that in the neural potential stimulation, both the hind wing and the elytron were suppressed. Interestingly, the beetle stopped flying whenever a stimulus potential was applied between the pronotum and one side of the optic lobe, or between the ventral nerve cord in the posterior pronotum and the central complex. In-depth experimentation demonstrated the effective of neural stimulation over muscle stimulation for flight control. During electrical stimulation of the optic lobes, the beetle performed unstable flight, resulting in alternating left and right turns. By applying the electrical signal into both the optic lobes and the central complex of the brain, we could precisely control the direction of the beetle flight. This work provides an insight into insect flight behavior for future development of insect-micro air vehicle.

The biological muscle is a powerful, flexible and versatile actuator. Its intrinsic characteristics determine the way how movements are generated and controlled. Robotic and prosthetic applications expect to profit from relying on bio-inspired actuators which exhibit natural (muscle-like) characteristics. As of today, when constructing a technical actuator, it is not possible to copy the exact molecular structure of a biological muscle. Alternatively, the question may be put how its characteristics can be realized with known mechanical components. Recently, a mechanical construct for an artificial muscle was proposed, which exhibits hyperbolic force–velocity characteristics. In this paper, we promote the constructing concept which is made by substantiating the mechanical design of biological muscle by a simple model, proving the feasibility of its real-world implementation, and checking their output both for mutual consistency and agreement with biological measurements. In particular, the relations of force, enthalpy rate and mechanical efficiency versus contraction velocity of both the construct's technical implementation and its numerical model were determined in quick-release experiments. All model predictions for these relations and the hardware results are now in good agreement with the biological literature. We conclude that the construct represents a mechanical concept of natural actuation, which is suitable for laying down some useful suggestions when designing bio-inspired actuators.

We designed and implemented a control algorithm for sensor-mediated chemical plume tracking in a turbulent flow environment. In our design, we focused on development of a signal processing strategy capable of replicating behavioral responses of actively tracking blue crabs (Callinectes sapidus) to chemical stimuli. The control algorithm is evaluated in a hardware platform that allows motion in two directions (i.e. forward–back and left–right). The geometric arrangement of the sensor array is inspired by the location of blue crab sensor populations. Upstream motion is induced by a binary response to supra-threshold spikes of concentration, and cross-stream steering is controlled by contrast between bilaterally-separated sensors. Like animal strategies, the developed control algorithm is dynamic. This property allows the algorithm to function effectively in the highly irregular turbulent environment and produces adaptive adjustments of motion to minimize the distance to the source of a plume. Tracking trials indicate that roughly 80% of the tracks successfully stop near the plume source location. Both success rate and movement patterns of the tracker compare favorably to that of blue crabs searching for odorant plume sources, thus suggesting that our sensory-mediated behavior hypothesis are generally accurate and that the associated tracking mechanisms may be successfully implemented in hardware.

Diatoms, bone, nacre and deep-sea sponges are mineralized natural structures found abundantly in nature. They exhibit mechanical properties on par with advanced engineering materials, yet their fundamental building blocks are brittle and weak. An intriguing characteristic of these structures is their heterogeneous distribution of mechanical properties. Specifically, diatoms exhibit nanoscale porosity in specific geometrical configurations to create regions with distinct stress strain responses, notably based on a single and simple building block, silica. The study reported here, using models derived from first principles based full atomistic studies with the ReaxFF reactive force field, focuses on the mechanics and deformation mechanisms of silica-based nanocomposites inspired by mineralized structures. We examine single edged notched tensile specimens and analyze stress and strain fields under varied sample size in order to gain fundamental insights into the deformation mechanisms of structures with distinct ordered arrangements of soft and stiff phases. We find that hierarchical arrangements of silica nanostructures markedly change the stress and strain transfer in the samples. The combined action of strain transfer in the deformable phase, and stress transfer in the strong phase, acts synergistically to reduce the intensity of stress concentrations around a crack tip, and renders the resulting composites less sensitive to the presence of flaws, for certain geometrical configurations it even leads to stable crack propagation. A systematic study allows us to identify composite structures with superior fracture mechanical properties relative to their constituents, akin to many natural biomineralized materials that turn the weaknesses of building blocks into a strength of the overall system.

The affiliation details for author Jongin Hong are: Department of Chemistry, Chung-Ang University, Korea.