Bioinspiration & Biomimetics

Computational models are used to examine the effect of schooling on flow generated noise from fish swimming using their caudal fins. We simulate the flow as well as the far-field hydrodynamic sound generated by the time-varying pressure loading on these carangiform swimmers. The effect of the number of swimmers in the school, the relative phase of fin flapping of the swimmers, and their spatial arrangement is examined. The simulations indicate that the phase of the fin flapping is a dominant factor in the total sound radiated into the far-field by a group of swimmers. For small schools, a suitable choice of relative phase between the swimmers can significantly reduce the overall intensity of the sound radiated to the far-field. The relative positioning of the swimmers is also shown to have an impact on the total radiated noise. For a larger school, even highly uncorrelated phases of fin movement between the swimmers in the school are very effective in significantly reducing the overall intensity of sound radiated into the far-field. The implications of these findings for fish ethology as well as the design and operation of bioinspired vehicles are discussed.

The past ten years have seen the rapid expansion of the field of biohybrid robotics. By combining engineered, synthetic components with living biological materials, new robotics solutions have been developed that harness the adaptability of living muscles, the sensitivity of living sensory cells, and even the computational abilities of living neurons. Biohybrid robotics has taken the popular and scientific media by storm with advances in the field, moving biohybrid robotics out of science fiction and into real science and engineering. So how did we get here, and where should the field of biohybrid robotics go next? In this perspective, we first provide the historical context of crucial subareas of biohybrid robotics by reviewing the past 10+ years of advances in microorganism-bots and sperm-bots, cyborgs, and tissue-based robots. We then present critical challenges facing the field and provide our perspectives on the vital future steps toward creating autonomous living machines.

The vast majority of the ocean's volume remains unexplored, in part because of limitations on the vertical range and measurement duration of existing robotic platforms. In light of the accelerating rate of climate change impacts on the physics and biogeochemistry of the ocean, the need for new tools that can measure more of the ocean on faster timescales is becoming pressing. Robotic platforms inspired or enabled by aquatic organisms have the potential to augment conventional technologies for ocean exploration. Recent work demonstrated the feasibility of directly stimulating the muscle tissue of live jellyfish via implanted microelectronics. We present a biohybrid robotic jellyfish that leverages this external electrical swimming control, while also using a 3D printed passive mechanical attachment to streamline the jellyfish shape, increase swimming performance, and significantly enhance payload capacity. A six-meter-tall, 13 600 l saltwater facility was constructed to enable testing of the vertical swimming capabilities of the biohybrid robotic jellyfish over distances exceeding 35 body diameters. We found that the combination of external swimming control and the addition of the mechanical forebody resulted in an increase in swimming speeds to 4.5 times natural jellyfish locomotion. Moreover, the biohybrid jellyfish were capable of carrying a payload volume up to 105% of the jellyfish body volume. The added payload decreased the intracycle acceleration of the biohybrid robots relative to natural jellyfish, which could also facilitate more precise measurements by onboard sensors that depend on consistent platform motion. While many robotic exploration tools are limited by cost, energy expenditure, and varying oceanic environmental conditions, this platform is inexpensive, highly efficient, and benefits from the widespread natural habitats of jellyfish. The demonstrated performance of these biohybrid robots suggests an opportunity to expand the set of robotic tools for comprehensive monitoring of the changing ocean.

Birds and mammals have evolved many thermal adaptations that are relevant to the bioinspired design of temperature control systems and energy management in buildings. Similar to many buildings, endothermic animals generate internal metabolic heat, are well insulated, regulate their temperature within set limits, modify microclimate and adjust thermal exchange with their environment. We review the major components of animal thermoregulation in endothermic birds and mammals that are pertinent to building engineering, in a world where climate is changing and reduction in energy use is needed. In animals, adjustment of insulation together with physiological and behavioural responses to changing environmental conditions fine-tune spatial and temporal regulation of body temperature, while also minimizing energy expenditure. These biological adaptations are characteristically flexible, allowing animals to alter their body temperatures to hourly, daily, or annual demands for energy. They exemplify how buildings could become more thermally reactive to meteorological fluctuations, capitalising on dynamic thermal materials and system properties. Based on this synthesis, we suggest that heat transfer modelling could be used to simulate these flexible biomimetic features and assess their success in reducing energy costs while maintaining thermal comfort for given building types.

Since its beginnings in the 1960s, soft robotics has been a steadily growing field that has enjoyed recent growth with the advent of rapid prototyping and the provision of new flexible materials. These two innovations have enabled the development of fully flexible and untethered soft robotic systems. The integration of novel sensors enabled by new manufacturing processes and materials shows promise for enabling the production of soft systems with 'embodied intelligence'. Here, four experts present their perspectives for the future of the field of soft robotics based on these past innovations. Their focus is on finding answers to the questions of: how to manufacture soft robots, and on how soft robots can sense, move, and think. We highlight industrial production techniques, which are unused to date for manufacturing soft robots. They discuss how novel tactile sensors for soft robots could be created to enable better interaction of the soft robot with the environment. In conclusion this article highlights how embodied intelligence in soft robots could be used to make soft robots think and to make systems that can compute, autonomously, from sensory inputs.

Achieving autonomous operation in complex natural environment remains an unsolved challenge. Conventional engineering approaches to this problem have focused on collecting large amounts of sensory data that are used to create detailed digital models of the environment. However, this only postpones solving the challenge of identifying the relevant sensory information and linking it to action control to the domain of the digital world model. Furthermore, it imposes high demands in terms of computing power and introduces large processing latencies that hamper autonomous real-time performance. Certain species of bats that are able to navigate and hunt their prey in dense vegetation could be a biological model system for an alternative approach to addressing the fundamental issues associated with autonomy in complex natural environments. Bats navigating in dense vegetation rely on clutter echoes, i.e. signals that consist of unresolved contributions from many scatters. Yet, the animals are able to extract the relevant information from these input signals with brains that are often less than 1 g in mass. Pilot results indicate that information relevant to location identification and passageway finding can be directly obtained from clutter echoes, opening up the possibility that the bats' skill can be replicated in man-made autonomous systems.

The development of robotic hands that can replicate the complex movements and dexterity of the human hand has been a longstanding challenge for scientists and engineers. A human hand is capable of not only delicate operation but also crushing with power. For performing tasks alongside and in place of humans, an anthropomorphic manipulator design is considered the most advanced implementation, because it is able to follow humans' examples and use tools designed for people. In this article, we explore the journey from human hands to robot hands, tracing the historical advancements and current state-of-the-art in hand manipulator development. We begin by investigating the anatomy and function of the human hand, highlighting the bone-tendon-muscle structure, skin properties, and motion mechanisms. We then delve into the field of robotic hand development, focusing on highly anthropomorphic designs. Finally, we identify the requirements and directions for achieving the next level of robotic hand technology.

Bioinspired flapping–wing micro aerial vehicles (FWMAVs) have emerged over the last two decades as a promising new type of robot. Their high thrust-to-weight ratio, versatility, safety, and maneuverability, especially at small scales, could make them more suitable than fixed-wing and multi-rotor vehicles for various applications, especially in cluttered, confined environments and in close proximity to humans, flora, and fauna. Unlike natural flyers, however, most FWMAVs currently have limited take-off and landing capabilities. Natural flyers are able to take off and land effortlessly from a wide variety of surfaces and in complex environments. Mimicking such capabilities on flapping-wing robots would considerably enhance their practical usage. This review presents an overview of take-off and landing techniques for FWMAVs, covering different approaches and mechanism designs, as well as dynamics and control aspects. The special case of perching is also included. As well as discussing solutions investigated for FWMAVs specifically, we also present solutions that have been developed for different types of robots but may be applicable to flapping-wing ones. Different approaches are compared and their suitability for different applications and types of robots is assessed. Moreover, research and technology gaps are identified, and promising future work directions are identified.

Aquatic organisms utilizing attachment often contend with unpredictable environments that can dislodge them from substrates. To counter these forces, many organisms (e.g. fish, cephalopods) have evolved suction-based organs for adhesion. Morphology is diverse, with some disc shapes deviating from a circle to more ovate designs. Inspired by the diversity of multiple aquatic species, we investigated how bioinspired cups with different disc shapes performed in shear loading conditions. These experiments highlighted pertinent physical characteristics found in biological discs (regions of stiffness, flattened margins, a sealing rim), as well as ecologically relevant shearing conditions. Disc shapes of fabricated cups included a standard circle, ellipses, and other bioinspired designs. To consider the effects of sealing, these stiff silicone cups were produced with and without a soft rim. Cups were tested using a force-sensing robotic arm, which directionally sheared them across surfaces of varying roughness and compliance in wet conditions while measuring force. In multiple surface and shearing conditions, elliptical and teardrop shapes outperformed the circle, which suggests that disc shape and distribution of stiffness may play an important role in resisting shear. Additionally, incorporating a soft rim increased cup performance on rougher substrates, highlighting interactions between the cup materials and surfaces asperities. To better understand how these cup designs may resist shear, we also utilized a visualization technique (frustrated total internal reflection; FTIR) to quantify how contact area evolves as the cup is sheared.

Bioinspired and biomimetic soft grippers are rapidly growing fields. They represent an advancement in soft robotics as they emulate the adaptability and flexibility of biological end effectors. A prominent example of a gripping mechanism found in nature is the octopus tentacle, enabling the animal to attach to rough and irregular surfaces. Inspired by the structure and morphology of the tentacles, this study introduces a novel design, fabrication, and characterization method of dielectric elastomer suction cups. To grasp objects, the developed suction cups perform out-of-plane deflections as the suction mechanism. Their attachment mechanism resembles that of their biological counterparts, as they do not require a pre-stretch over a rigid frame or any external hydraulic or pneumatic support to form and hold the dome structure of the suction cups. The realized artificial suction cups demonstrate the capability of generating a negative pressure up to 1.3 kPa in air and grasping and lifting objects with a maximum 58 g weight under an actuation voltage of 6 kV. They also have sensing capabilities to determine whether the grasping was successful without the need of lifting the objects.

Biological materials such as bone, nacre, antler, and teeth are gifted with excellent mechanical properties that have inspired the development of synthetic composites. These superior properties are attributed to the geometrical as well as the material properties of the constituents at a small scale. This paper is focused on the influence of failure modes over the mechanical properties including stiffness, strength, and toughness, after the failure of different interfaces in staggered bio-inspired structures such as regular and stairwise staggered arrangements where stiff platelets are embedded in a pliant matrix. In order to find these properties, this article develops a novel analytical model for stress transfer and effective Young's modulus of a stairwise staggered composite based on composite micro-mechanics principles. The results indicate that the failure sequence indeed influences mechanical characteristics such as stiffness, strength, and toughness. Also, the results from the present study is capable of quantifying the major contribution of toughness that is obtained from the vertical interface failure, which is ignored in previous studies for estimating the toughness. The results indicate that a toughness contribution as high as 56% from the inclusion of the first failure can be obtained in a stairwise staggered composite. The influence of significant parameters like Young's moduli ratio between the platelet and matrix ($E_p /E_ m$) over the strength at different modes of failure showed that the strength at first and second failures increases as the $E_p /E_m$ ratio increases. The findings of this study hold significant potential for predicting the failure sequences with their quantified contributions towards the mechanical properties of a bio-inspired staggered composite.

The urgency for energy efficient, responsive architectures has propelled smart material development to the forefront of scientific and architectural research. This paper explores biological, physical, and morphological factors influencing the programming of a novel microbial-based smart hybrid material which is responsive to changes in environmental humidity. Hygromorphs respond passively, without energy input, by expanding in high humidity and contracting in low humidity. Bacillus subtilis develops environmentally robust, hygromorphic spores which may be harnessed within a bilayer to generate a deflection response with potential for programmability. The bacterial spore-based hygromorph biocomposites (HBCs) were developed and aggregated to enable them to open and close apertures and demonstrate programmable responses to changes in environmental humidity. This study spans many fields including microbiology, materials science, design, fabrication and architectural technology, working at multiple scales from single cells to 'bench-top' prototype.

Exploration of biological factors at cellular and ultracellular levels enabled optimisation of growth and sporulation conditions to biologically preprogramme optimum spore hygromorphic response and yield. Material explorations revealed physical factors influencing biomechanics, preprogramming shape and response complexity through fabrication and inert substrate interactions, to produce a palette of HBCs. Morphological aggregation was designed to harness and scale-up the HBC palette into programmable humidity responsive aperture openings. This culminated in pilot performance testing of a humidity-responsive ventilation panel fabricated with aggregated Bacillus HBCs as a bench-top prototype and suggests potential for this novel biotechnology to be further developed.

Nature is filled with materials that are both strong and light, such as bones, teeth, bamboo, seashells, arthropod exoskeletons, and nut shells. The insights gained from analyzing the changing chemical compositions and structural characteristics, as well as the mechanical properties of these materials, have been applied in developing innovative, durable, and lightweight materials like those used for impact absorption. This research concentrates on the involucres of Job's tears (Coix lacryma-jobi var. lacryma-jobi), which are rich in silica, hard, and serve to encase the seeds. The chemical composition and structural characteristics of involucres were observed using scanning electron microscopy and energy-dispersive x-ray spectroscopy and optical microscopy with safranin staining. The hardness of the outer and inner surfaces of the involucre was measured using the micro-Vickers hardness test, and the Young's modulus of the involucre's cross-section was measured using nanoindentation. Additionally, the breaking behavior of involucres was measured through compression test and three-point bending tests. The results revealed a smooth transition in chemical composition, as well as in the orientation and dimensions of the tissues from the outer to the inner layers of involucres. Furthermore, it was estimated that the spatial gradient of the Young's modulus is due to the gradient of silica deposition. By distributing the hard, brittle silica in the outer layer and elastoplastic organic components in the middle and inner layers, the involucres effectively respond to compressive and tensile stresses that occur when loads are applied to the outside of the involucre. Furthermore, the involucres are reinforced in both meridional and equatorial directions by robust fibrovascular bundles, fibrous bundles, and the inner layer's sclerenchyma fibers. From these factors, it was found that involucres exhibit high toughness against loads from outside, making it less prone to cracking.

In the field of robotic hands, finger force coordination is usually achieved by complex mechanical structures and control systems. This study presents the design of a novel transmission system inspired from the physiological concept of force synergies, aiming to simplify the control of multifingered robotic hands. To this end, we collected human finger force data during six isometric grasping tasks, and force synergies (i.e. the synergy weightings and the corresponding activation coefficients) were extracted from the concatenated force data to explore their potential for force modulation. We then implemented two force synergies with a cable-driven transmission mechanism consisting of two spring-loaded sliders and five V-shaped bars. Specifically, we used fixed synergy weightings to determine the stiffness of the compression springs, and the displacements of sliders were determined by time-varying activation coefficients. The derived transmission system was then used to drive a five-finger robotic hand named SYN hand. We also designed a motion encoder to selectively activate desired fingers, making it possible for two motors to empower a variety of hand postures. Experiments on the prototype demonstrate successful grasp of a wide range of objects in everyday life, and the finger force distribution of SYN hand can approximate that of human hand during six typical tasks. To our best knowledge, this study shows the first attempt to mechanically implement force synergies for finger force modulation in a robotic hand. In comparison to state-of-the-art robotic hands with similar functionality, the proposed hand can distribute humanlike force ratios on the fingers by simple position control, rather than resorting to additional force sensors or complex control strategies. The outcome of this study may provide alternatives for the design of novel anthropomorphic robotic hands, and thus show application prospects in the field of hand prostheses and exoskeletons.

Computational models are used to examine the effect of schooling on flow generated noise from fish swimming using their caudal fins. We simulate the flow as well as the far-field hydrodynamic sound generated by the time-varying pressure loading on these carangiform swimmers. The effect of the number of swimmers in the school, the relative phase of fin flapping of the swimmers, and their spatial arrangement is examined. The simulations indicate that the phase of the fin flapping is a dominant factor in the total sound radiated into the far-field by a group of swimmers. For small schools, a suitable choice of relative phase between the swimmers can significantly reduce the overall intensity of the sound radiated to the far-field. The relative positioning of the swimmers is also shown to have an impact on the total radiated noise. For a larger school, even highly uncorrelated phases of fin movement between the swimmers in the school are very effective in significantly reducing the overall intensity of sound radiated into the far-field. The implications of these findings for fish ethology as well as the design and operation of bioinspired vehicles are discussed.

Over the past few years, the research community has witnessed a burgeoning interest in biomimetics, particularly within the marine sector. The study of biomimicry as a revolutionary remedy for numerous commercial and research-based marine businesses has been spurred by the difficulties presented by the harsh maritime environment. Biomimetic marine robots are at the forefront of this innovation by imitating various structures and behaviors of marine life and utilizing the evolutionary advantages and adaptations these marine organisms have developed over millennia to thrive in harsh conditions. This thorough examination explores current developments and research efforts in biomimetic marine robots based on their propulsion mechanisms. By examining these biomimetic designs, the review aims to solve the mysteries buried in the natural world and provide vital information for marine improvements. In addition to illuminating the complexities of these bio-inspired mechanisms, the investigation helps to steer future research directions and possible obstacles, spurring additional advancements in the field of biomimetic marine robotics. Considering the revolutionary potential of using nature's inventiveness to navigate and thrive in one of the most challenging environments on Earth, the current review's conclusion urges a multidisciplinary approach by integrating robotics and biology. The field of biomimetic marine robotics not only represents a paradigm shift in our relationship with the oceans, but it also opens previously unimaginable possibilities for sustainable exploration and use of marine resources by understanding and imitating nature's solutions.

Bioinspired flapping–wing micro aerial vehicles (FWMAVs) have emerged over the last two decades as a promising new type of robot. Their high thrust-to-weight ratio, versatility, safety, and maneuverability, especially at small scales, could make them more suitable than fixed-wing and multi-rotor vehicles for various applications, especially in cluttered, confined environments and in close proximity to humans, flora, and fauna. Unlike natural flyers, however, most FWMAVs currently have limited take-off and landing capabilities. Natural flyers are able to take off and land effortlessly from a wide variety of surfaces and in complex environments. Mimicking such capabilities on flapping-wing robots would considerably enhance their practical usage. This review presents an overview of take-off and landing techniques for FWMAVs, covering different approaches and mechanism designs, as well as dynamics and control aspects. The special case of perching is also included. As well as discussing solutions investigated for FWMAVs specifically, we also present solutions that have been developed for different types of robots but may be applicable to flapping-wing ones. Different approaches are compared and their suitability for different applications and types of robots is assessed. Moreover, research and technology gaps are identified, and promising future work directions are identified.

Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a plethora of potential uses. Robust yet compliant interactions between farm produce and machines will enable new capabilities and optimize existing processes. There is also an opportunity to explore how modeling tools used in soft robotics can be applied to improve our representation and understanding of the soft and compliant structures common in agriculture. In this review, we seek to highlight the potential for soft robotics technologies within the food system, and also the unique challenges that must be addressed when developing soft robotics systems for this problem domain. We conclude with an outlook on potential directions for meaningful and sustainable impact, and also how our outlook on both soft robotics and agriculture must evolve in order to achieve the required paradigm shift.

The development of robotic hands that can replicate the complex movements and dexterity of the human hand has been a longstanding challenge for scientists and engineers. A human hand is capable of not only delicate operation but also crushing with power. For performing tasks alongside and in place of humans, an anthropomorphic manipulator design is considered the most advanced implementation, because it is able to follow humans' examples and use tools designed for people. In this article, we explore the journey from human hands to robot hands, tracing the historical advancements and current state-of-the-art in hand manipulator development. We begin by investigating the anatomy and function of the human hand, highlighting the bone-tendon-muscle structure, skin properties, and motion mechanisms. We then delve into the field of robotic hand development, focusing on highly anthropomorphic designs. Finally, we identify the requirements and directions for achieving the next level of robotic hand technology.

Collective motion of organisms is a widespread phenomenon exhibited by many species, most commonly associated with colonial birds and schools of fish. The benefits of schooling behavior vary from defense against predators, increased feeding efficiency, and improved endurance. Schooling motions can be energetically beneficial as schools allow for channeling and vortex-based interactions, creating a less demanding stroke rate to sustain high swimming velocities and increased movement efficiency. Biomimetics is a fast-growing field, and there have been several attempts to quantify the hydrodynamics behind group dynamics and the subsequent benefits of increased maneuverability, which can be applied to unmanned vehicles and devices traveling in a group or swarm-like scenarios. Earlier efforts to understand these phenomena have been composed of physical experimentation and numerical simulations. This literature review examines the existing studies performed to understand the hydrodynamics of group collective motion inspired by schooling habits. Both numerical simulation and physical experimentation are discussed, and the benefits and drawbacks of the two approaches are compared to help future researchers and engineers expand on these models and concepts. This paper also identifies some of the limitations associated with different approaches to studies on fish schooling and suggests potential directions for future work.

Seals are able to use their uniquely shaped whiskers to track hydrodynamic trails generated 30 s ago and detect hydrodynamic velocities as low as 245 m s⁻¹. The high sensibility has long thought to be related to the wavy shape of the whiskers. This work revisited the hydrodynamics of a seal whisker model in a uniform flow, and discovered a new mechanism of seal whiskers in reducing self-induced noises, which is different from the long thought-of effect of the wavy shape. It was reported that the major and minor axes of the elliptical cross-sections of seal whisker are out of phase by approximately 180 degrees. Three-dimensional numerical simulations of laminar flow (Reynolds number range: 150–500) around seal-whisker-like cylinders were performed to examine the effect of the phase-difference on hydrodynamic forces and wake structures. It was found that the phase-difference induced hairpin vortices in the wake over a wide range of geometric and flow parameters (wavelength, wavy amplitude and Reynolds number), therefore substantially reducing lift-oscillations and self-induced noises. The formation mechanism of the hairpin vortices was analyzed and is discussed in details. The results provide valuable insights into an innovative vibration reduction and hydrodynamic sensing mechanism.

Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body–limb coordination. Therefore, a better understanding of the mechanism underlying body–limb coordination could provide informative insights into the improvement of legged robot mobility. Sprawling locomotion is a walking gait with lateral bending exhibited in primitive legged vertebrates such as salamanders and newts. Because primitive animals are anticipated to possess the essence of quadruped motor control, their locomotion helps better understand body–limb coordination mechanisms. Previous studies modeled neural networks in salamanders and employed it to control robots and investigate and emulate sprawling locomotion. However, these models predefined the relationship between the legs and the trunk, such that how body–limb coordination is attained is largely unknown. In this article, we demonstrate that sensory feedback facilitates body–limb coordination in sprawling locomotion and improves mobility through mathematical modeling and robot simulations. Our proposed model has cross-coupled sensory feedback, that is, bidirectional feedback from body to limb and limb to body, which leads to an appropriate relationship between the legs and the trunk without any predefined relationship. Resulting gaits are similar to the sprawling locomotion of salamanders and achieve high speed and energy efficiency that are at the same level as those of a neural network model, such as conventional models, optimizing the relationship between the legs and the trunk. Furthermore, sensory feedback contributes to the adaptability toward leg failure, and the bidirectionality of feedback facilitates parameter tuning for stable locomotion. These results suggest that cross-coupled sensory feedback facilitates sprawling locomotion and potentially plays an important role in the body–limb coordination mechanism.

Chimney swifts (Chaetura pelagica) are highly aerial, small, insectivorous birds well known for roosting en masse in chimneys during their autumn migration. These roosting events require hundreds to thousands of birds to enter a small opening (here 0.64 m²) within a short amount of time (15–30 min). Thus, these entry events pose a complex navigational and behavioral challenge as birds identify their entry route, cooperate with other birds present to form an entry flock, and compete with other birds at the time of chimney entry. We used six synchronized cameras to capture and reconstruct the 3D flight trajectories of swifts before and during chimney entry. Navigation into the chimney is consistent with use of a relative retinal expansion velocity cue, which results in an entry/non-entry decision point about 1.5 m above the chimney, or 0.4 s at typical entry speeds. Entries were highly clustered with 91 of 136 entries occurring within 1 s of another entry. We observed both synchronous (entry within 0.2 s) and sequential entry behavior (entry separated by ~0.4 s). Birds entering the chimney flew in close proximity to other birds (median minimum distance 0.51 m; 1.7 wingspans). In cases where two birds appeared to attempt a near-simultaneous entry, the bird either slightly to the rear or with a velocity vector bringing it closer to the current position of the other bird tended to make an avoidance maneuver and abandon its entry attempt. Overall, these results show how groups of animals execute complex landing and collision avoidance maneuvers in a natural setting without central control authority.

Groups of organisms such as flocks, swarms, herds, and schools form for a variety of motivations linked to survival and proliferation. Their size, locomotive domain, population, and the environmental stimuli guiding motion make challenging the study of member interactions and global behaviors. In this review, we borrow principles and analogies from fluids to describe the characteristics of organismal aggregations, which may inspire new tools for the analysis of collective motion. Examples of fluid resemblance include open channel flow, droplet formation, and particle-laden flow. We show how the properties of density, viscosity, and surface tension have strong parallels in the structure and behavior of aggregations of contrasting scale and domain. In certain cases, aggregations are sufficiently fluid-like that values can be assigned to such properties. We highlight how organisms engaging in collective motion can flow, roll, and change phase. Finally, we present limitations and exceptions for the application of fluidic principles to the motion of living groups.

The natural compound eye has received much attention in recent years due to its remarkable properties, such as its large field of view (FOV), compact structure, and high sensitivity to moving objects. Many studies have been devoted to mimicking the imaging system of the natural compound eye. The paper gives a review of state-of-the-art artificial compound eye imaging systems. Firstly, we introduce the imaging principle of three types of natural compound eye. Then, we divide current artificial compound eye imaging systems into four categories according to the difference of structural composition. Readers can easily grasp methods to build an artificial compound eye imaging system from the perspective of structural composition. Moreover, we compare the imaging performance of state-of-the-art artificial compound eye imaging systems, which provides a reference for readers to design system parameters of an artificial compound eye imaging system. Next, we present the applications of the artificial compound eye imaging system including imaging with a large FOV, imaging with high resolution, object distance detection, medical imaging, egomotion estimation, and navigation. Finally, an outlook of the artificial compound eye imaging system is highlighted.

The urgency for energy efficient, responsive architectures has propelled smart material development to the forefront of scientific and architectural research. This paper explores biological, physical, and morphological factors influencing the programming of a novel microbial-based smart hybrid material which is responsive to changes in environmental humidity. Hygromorphs respond passively, without energy input, by expanding in high humidity and contracting in low humidity. Bacillus subtilis develops environmentally robust, hygromorphic spores which may be harnessed within a bilayer to generate a deflection response with potential for programmability. The bacterial spore-based hygromorph biocomposites (HBCs) were developed and aggregated to enable them to open and close apertures and demonstrate programmable responses to changes in environmental humidity. This study spans many fields including microbiology, materials science, design, fabrication and architectural technology, working at multiple scales from single cells to 'bench-top' prototype.

Exploration of biological factors at cellular and ultracellular levels enabled optimisation of growth and sporulation conditions to biologically preprogramme optimum spore hygromorphic response and yield. Material explorations revealed physical factors influencing biomechanics, preprogramming shape and response complexity through fabrication and inert substrate interactions, to produce a palette of HBCs. Morphological aggregation was designed to harness and scale-up the HBC palette into programmable humidity responsive aperture openings. This culminated in pilot performance testing of a humidity-responsive ventilation panel fabricated with aggregated Bacillus HBCs as a bench-top prototype and suggests potential for this novel biotechnology to be further developed.

This paper presents a novel approach for designing a fail-safe bending-resistant structure from the combination of explicit discrete component-based topology optimization and the porcupine quill-inspired features. To achieve fail-safe functionalities under classical topology optimization formulations, the method involves constructing discrete components at various scales to imitate the quill's foam-like characteristics. The components are iteratively updated, and the optimization process allows for the grading of quill-inspired features while achieving optimal structural compliance under bending loads. The proposed approach is demonstrated to be effective through the resolution of Messershmitt-Bolkow-Blohm (MBB) beam designs, parameterized studies of geometric parameters, and numerical validation of long-span and short-span quill-inspired beam designs. By examining the von Mises stress distribution, the study highlights the mitigation of material yielding brought by the geometric features of porcupine quills, leading to the potential theory support for the fail-safe capability. The optimized MBB beams are manufactured using the material extrusion (MEX) technique, and three-point bending tests are conducted to explore the failure mitigation capability of the quill-inspired beam under large deformation. Consequently, the study concludes that the proposed quill-inspired component-based topology optimization approach can design a fail-safe structure according to the improved energy absorption as well as increased deformation after reaching 75% peak load.

This paper presents a bibliometrics analysis aimed at discerning global trends in research on "biomimetics", "biomimicry", "bionics", and "bio-inspired" concepts within civil engineering, using the Scopus database. This database facilitates the assessment of interrelationships and impacts of these concepts within the civil engineering domain. The findings demonstrate a consistent growth in publications related to these areas, indicative of increasing interest and impact within the civil engineering community. Influential authors and institutions have emerged, making significant contributions to the field. The United States, Germany, and the United Kingdom are recognised as leaders in research on these concepts in civil engineering. Notably, emerging countries such as China and India have also made considerable contributions. The integration of design principles inspired by nature into civil engineering holds the potential to drive sustainable and innovative solutions for various engineering challenges. The conducted bibliometrics analysis grants perspective on the current state of scientific research on biomimetics, biomimicry, bionics, and bio-inspired concepts in the civil engineering domain, offering data to predict the evolution of each concept in the coming years. Based on the findings of this research, "biomimetics" replicates biological substances, "biomimicry" directly imitates designs, and "bionics" mimics biological functions, while "bio-inspired" concepts offer innovative ideas beyond direct imitation. Each term incorporates distinct strategies, applications, and historical contexts, shaping innovation across the field of civil engineering.

Soft-bodied animals, such as worms and snakes, use many muscles in different ways to traverse unstructured environments and inspire tools for accessing confined spaces. They demonstrate versatility of locomotion which is essential for adaptation to changing terrain conditions. However, replicating such versatility in untethered soft-bodied robots with multimodal locomotion capabilities have been challenging due to complex fabrication processes and limitations of soft body structures to accommodate hardware such as actuators, batteries and circuit boards. Here, we present MetaCrawler, a 3D printed metamaterial soft robot designed for multimodal and omnidirectional locomotion. Our design approach facilitated an easy fabrication process through a discrete assembly of a modular nodal honeycomb lattice with soft and hard components. A crucial benefit of the nodal honeycomb architecture is the ability of its hard components, nodes, to accommodate a distributed actuation system, comprising servomotors, control circuits, and batteries. Enabled by this distributed actuation, MetaCrawler achieves five locomotion modes: peristalsis, sidewinding, sideways translation, turn-in-place, and anguilliform. Demonstrations showcase MetaCrawler's adaptability in confined channel navigation, vertical traversing, and maze exploration. This soft robotic system holds the potential to offer easy-to-fabricate and accessible solutions for multimodal locomotion in applications such as search and rescue, pipeline inspection, and space missions.

Nature is filled with materials that are both strong and light, such as bones, teeth, bamboo, seashells, arthropod exoskeletons, and nut shells. The insights gained from analyzing the changing chemical compositions and structural characteristics, as well as the mechanical properties of these materials, have been applied in developing innovative, durable, and lightweight materials like those used for impact absorption. This research concentrates on the involucres of Job's tears (Coix lacryma-jobi var. lacryma-jobi), which are rich in silica, hard, and serve to encase the seeds. The chemical composition and structural characteristics of involucres were observed using scanning electron microscopy and energy-dispersive x-ray spectroscopy and optical microscopy with safranin staining. The hardness of the outer and inner surfaces of the involucre was measured using the micro-Vickers hardness test, and the Young's modulus of the involucre's cross-section was measured using nanoindentation. Additionally, the breaking behavior of involucres was measured through compression test and three-point bending tests. The results revealed a smooth transition in chemical composition, as well as in the orientation and dimensions of the tissues from the outer to the inner layers of involucres. Furthermore, it was estimated that the spatial gradient of the Young's modulus is due to the gradient of silica deposition. By distributing the hard, brittle silica in the outer layer and elastoplastic organic components in the middle and inner layers, the involucres effectively respond to compressive and tensile stresses that occur when loads are applied to the outside of the involucre. Furthermore, the involucres are reinforced in both meridional and equatorial directions by robust fibrovascular bundles, fibrous bundles, and the inner layer's sclerenchyma fibers. From these factors, it was found that involucres exhibit high toughness against loads from outside, making it less prone to cracking.

Animals have evolved highly effective locomotion capabilities in terrestrial, aerial, and aquatic
environments. Over life's history, mass extinctions have wiped out unique animal species with specialized
adaptations, leaving paleontologists to reconstruct their locomotion through fossil analysis. Despite
advancements, little is known about how extinct megafauna, such as the Ichthyosauria one of the most
successful lineages of marine reptiles, utilized their varied morphologies for swimming. Traditional
robotics struggle to mimic extinct locomotion effectively, but the emerging soft robotics field offers
a promising alternative to overcome this challenge. This paper aims to bridge this gap by studying
Mixosaurus locomotion with soft robotics, combining material modeling and biomechanics in physical
experimental validation. Combining a soft body with soft pneumatic actuators, the soft robotic platform
described in this study investigates the correlation between asymmetrical fins and buoyancy by recreating
the pitch torque generated by extinct swimming animals. We performed a comparative analysis of
thrust and torque generated by Carthorhyncus, Utatsusaurus, Mixosaurus, Guizhouichthyosaurus, and
Ophthalmosaurus tail fins in a flow tank. Experimental results suggest that the pitch torque on the torso
generated by hypocercal fin shapes such as found in model systems of Guizhouichthyosaurus, Mixosaurus
and Utatsusaurus produce distinct ventral body pitch effects able to mitigate the animal's non-neutral
buoyancy. This body pitch control effect is particularly pronounced in Guizhouichthyosaurus, which
results suggest would have been able to generate high ventral pitch torque on the torso to compensate
for its positive buoyancy. By contrast, homocercal fin shapes may not have been conducive for such
buoyancy compensation, leaving torso pitch control to pectoral fins, for example. Across the range of the
actuation frequencies of the caudal fins tested, resulted in oscillatory modes arising, which in turn can
affect the for-aft thrust generated.

Computational models are used to examine the effect of schooling on flow generated noise from fish swimming using their caudal fins. We simulate the flow as well as the far-field hydrodynamic sound generated by the time-varying pressure loading on these carangiform swimmers. The effect of the number of swimmers in the school, the relative phase of fin flapping of the swimmers, and their spatial arrangement is examined. The simulations indicate that the phase of the fin flapping is a dominant factor in the total sound radiated into the far-field by a group of swimmers. For small schools, a suitable choice of relative phase between the swimmers can significantly reduce the overall intensity of the sound radiated to the far-field. The relative positioning of the swimmers is also shown to have an impact on the total radiated noise. For a larger school, even highly uncorrelated phases of fin movement between the swimmers in the school are very effective in significantly reducing the overall intensity of sound radiated into the far-field. The implications of these findings for fish ethology as well as the design and operation of bioinspired vehicles are discussed.

In nature, leaves and their laminae vary in shape, appearance and unfolding behaviour. We investigated peltate leaves of two model species with peltate leaves and highly different morphology (Syngonium podophyllum and Pilea peperomioides) and two distinct unfolding patterns via time-lapse recordings: we observed successive unfolding of leaf halves in S. podophyllum and simultaneous unfolding in P. peperomioides. Furthermore, we gathered relevant morphological and biomechanical data in juvenile (unfolding) and adult (fully unfolded) plants of both species by measuring the thickness and the tensile modulus of both lamina and veins as a measure of their stiffness. In S. podophyllum, lamina and veins stiffen after unfolding, which may facilitate unfolding in the less stiff juvenile lamina. Secondary venation highly contributes to stiffness in the adult lamina of S. podophyllum, while the lamina itself withstands tensile loads best in parallel direction to secondary veins. In contrast, the leaf of P. peperomioides has a higher lamina thickness and small, non-prominent venation and is equally stiff in every region and direction, although, as is the case in S. podophyllum, thickness and stiffness increase during ontogeny of leaves from juvenile to adult. It could be shown that
(changes in) lamina thickness and stiffness can be well correlated with the unfolding processes of both model plants, so that we conclude that functional lamina morphology in juvenile and adult leaf stages and the ontogenetic transition while unfolding is highly dependent on biomechanical characteristics, though other factors are also taken into consideration and discussed.

Achieving autonomous operation in complex natural environment remains an unsolved challenge. Conventional engineering approaches to this problem have focused on collecting large amounts of sensory data that are used to create detailed digital models of the environment. However, this only postpones solving the challenge of identifying the relevant sensory information and linking it to action control to the domain of the digital world model. Furthermore, it imposes high demands in terms of computing power and introduces large processing latencies that hamper autonomous real-time performance. Certain species of bats that are able to navigate and hunt their prey in dense vegetation could be a biological model system for an alternative approach to addressing the fundamental issues associated with autonomy in complex natural environments. Bats navigating in dense vegetation rely on clutter echoes, i.e. signals that consist of unresolved contributions from many scatters. Yet, the animals are able to extract the relevant information from these input signals with brains that are often less than 1 g in mass. Pilot results indicate that information relevant to location identification and passageway finding can be directly obtained from clutter echoes, opening up the possibility that the bats' skill can be replicated in man-made autonomous systems.

Recognizing humans' unmatched robustness, adaptability, and learning abilities across anthropomorphic movements compared to robots, we find inspiration in the simultaneous development of both morphology and cognition observed in humans. We utilize optimal control principles to train a muscle-actuated human model for both balance and squat jump tasks in simulation. Morphological development is introduced through abrupt transitions from a 4 year-old to a 12 year-old morphology, ultimately shifting to an adult morphology. We create two versions of the 4 year-old and 12 year-old models— one emulating human ontogenetic development and another uniformly scaling segment lengths and related parameters. Our results show that both morphological development strategies outperform the non-development path, showcasing enhanced robustness to perturbations in the balance task and increased jump height in the squat jump task. Our findings challenge existing research as they reveal that starting with initial robot designs that do not inherently facilitate learning and incorporating abrupt changes in their morphology can still lead to improved results, provided these morphological adaptations draw inspiration from biological principles.