Rolling locomotion using an external force such as gravity has evolved many times. However, some caterpillars can curl into a wheel and generate their own rolling momentum as part of an escape repertoire. This change in body conformation occurs well within 100 ms and generates a linear velocity over 0.2 m s ⁻¹, making it one of the fastest self-propelled wheeling behaviors in nature. Inspired by this behavior, we construct a soft-bodied robot to explore the dynamics and control issues of ballistic rolling. This robot, called GoQBot, closely mimics caterpillar rolling. Analyzing the whole body kinematics and 2D ground reaction forces at the robot ground anchor reveals about 1 G of acceleration and more than 200 rpm of angular velocity. As a novel rolling robot, GoQBot demonstrates how morphing can produce new modes of locomotion. Furthermore, mechanical coupling of the actuators improves body coordination without sensory feedback. Such coupling is intrinsic to soft...

A quantitative analysis of the interspecific variability between beamforming baffle shapes in the biosonar system of bats is presented. The data set analyzed consisted of 100 outer ear (pinna) shapes from at least 59 species. A vector-space representation suitable for principal component analysis (PCA) was constructed by virtue of a transform of the pinna surfaces into cylindrical coordinates. The central axis of the cylindrical transform was found by minimizing a potential function. The shapes were aligned by means of their respective axes and their center of gravity. The average pinna of the sample was a symmetrical, obliquely truncated horn. The first seven eigenvalues accounted already for two-thirds of the variability around the mean, which indicates that most of the biodiversity in the bat pinna can be understood in a more low-dimensional space. The first three principal components show that most of the variability of the bat pinna sample is in terms of opening angle, left–...

Multifrequency numerical simulations of the light-coupling efficiency of a prismatic bioinspired compound lens (BCL) of silicon atop a thick silicon substrate were carried out within the framework of geometrical optics. Comparison was made with untextured and groove-textured silicon substrates as well as with untextured silicon substrates with a double-layer anti-reflection (DLAR) coating. Taking into account the broadband nature and the sea-level spectral irradiance of the insolation flux, and averaging over all admissible directions and both linear polarization states of the incident light, we found that the light-coupling efficiency can be almost doubled with respect to the untextured silicon substrate and enhanced by about a third with respect to a DLAR-coated untextured silicon substrate, by adopting a DLAR-coated silicon BCL.

Here we demonstrate the feasibility of using an array of live insects to detect concentrated packets of odor and infer the location of an odor source (~15 m away) using a backward Lagrangian dispersion model based on the Langevin equation. Bayesian inference allows uncertainty to be quantified, which is useful for robotic planning. The electroantennogram (EAG) is the biopotential developed between the tissue at the tip of an insect antenna and its base, which is due to the massed response of the olfactory receptor neurons to an odor stimulus. The EAG signal can carry tens of bits per second of information with a rise time as short as 12 ms (K A Justice 2005 J. Neurophiol. 93 2233–9). Here, instrumentation including a GPS with a digital compass and an ultrasonic 2D anemometer has been integrated with an EAG odor detection scheme, allowing the location of an odor source to be estimated by collecting data at several downwind locations. Bayesian inference in conjunction...

A woodpecker is known to drum the hard woody surface of a tree at a rate of 18 to 22 times per second with a deceleration of 1200 g, yet with no sign of blackout or brain damage. As a model in nature, a woodpecker is studied to find clues to develop a shock-absorbing system for micromachined devices. Its advanced shock-absorbing mechanism, which cannot be explained merely by allometric scaling, is analyzed in terms of endoskeletal structures. In this analysis, the head structures (beak, hyoid, spongy bone, and skull bone with cerebrospinal fluid) of the golden-fronted woodpecker, Melanerpes aurifrons, are explored with x-ray computed tomography images, and their shock-absorbing mechanism is analyzed with a mechanical vibration model and an empirical method. Based on these analyses, a new shock-absorbing system is designed to protect commercial micromachined devices from unwanted high- g and high-frequency mechanical excitations. The new shock-absorbing system ...