Enhanced Locomotion Efficiency of a Bio-inspired Walking Robot using Contact Surfaces with Frictional Anisotropy

Manoonpong, Poramate; Petersen, Dennis S.; Kovalev, Alexander; Wörgötter, Florentin; Gorb, Stanislav N.; Spinner, Marlene; Heepe, Lars

doi:10.1038/srep39455

Cited by 43 publications

(47 citation statements)

References 48 publications

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“…Strong forces might be present during the grooming process, because we observed strong destruction on the empodium with sometimes completely missing bristles in living flies. The soft and elastic resilin joints at the bristle's base observed by CLSM may have developed to increase the resilience and longevity of the empodium's bristles, similar to the flexible mounting of sharkskin scales in the tissue, preventing damage of the interlocked microstructures (Manoonpong et al, 2016).…”

Section: The Role Of the Empodiummentioning

confidence: 99%

Holding tight on feathers - structural specializations and attachment properties of the avian ectoparasiteCrataerina pallida(Diptera, Hippoboscidae)

Petersen

Kreuter

Heepe

et al. 2018

Journal of Experimental Biology

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The louse fly is an obligate blood-sucking ectoparasite of the common swift As a result of reduction of the wings, is unable to fly; thus, an effective and reliable attachment to their host's plumage is of utmost importance. The attachment system of shows several modifications in comparison to that of other calyptrate flies, notably the large tridentate claws and the dichotomously shaped setae located on the pulvilli. Based on data from morphological analysis, confocal laser scanning microscopy, cryo-scanning electron microscopy and attachment force experiments performed on native (feathers) as well as artificial substrates (glass, epoxy resin and silicone rubber), we showed that the entire attachment system is highly adapted to the fly's lifestyle as an ectoparasite. The claws in particular are the main contributor to strong attachment to the host. Resulting attachment forces on feathers make it impossible to detach without damage to the feathers or to the legs of the louse fly itself. Well-developed pulvilli are responsible for the attachment to smooth surfaces. Both dichotomously shaped setae and high setal density explain high attachment forces observed on smooth substrates. For the first time, we demonstrate a material gradient within the setae, with soft, resilin-dominated apical tips and stiff, more sclerotized bases in Diptera. The empodium seems not to be directly involved in the attachment process, but it might operate as a cleaning device and may be essential to maintain the functionality of the entire attachment system.

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Section: The Role Of the Empodiummentioning

confidence: 99%

Holding tight on feathers - structural specializations and attachment properties of the avian ectoparasiteCrataerina pallida(Diptera, Hippoboscidae)

Petersen

Kreuter

Heepe

et al. 2018

Journal of Experimental Biology

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“…Examples of biological anisotropic structures: (a) hierarchical adhesive structure of the gecko (Gekko gecko) adapted from Gao et al[8], with permission from Elsevier, (b) shark skin denticles (Lamna nasus) adapted from Manoonpong et al[9], (c) snake skin microstructure (Lampropeltis getula californiae) adapted from Baum et al[10], (d ) ultrastructure of attachment pad of Tettigonia viridissima adapted from Gorb[11], (e) adhesive pad of a foreleg of a ladybird beetle (Coccinella septempunctata), SEM picture adapted from Peisker et al[12], (f ) confocal laser scanning microscopic image, showing a material gradient in the ladybird beetle adapted from Peisker et al[12], (g) bio-inspired sawtooth-like sample structure. (a) Profiles of sawtooth-structured samples surfaces with three different aspect ratios (high, medium and low) (b) Schematic of the experimental set-up.…”

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confidence: 99%

Inversion of friction anisotropy in a bio-inspired asymmetrically structured surface

Tramsen

Gorb

Zhang

et al. 2018

J. R. Soc. Interface.

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Friction anisotropy is an important property of many surfaces that usually facilitate the generation of motion in a preferred direction. Such surfaces are very common in biological systems and have been the templates for various bio-inspired materials with similar tribological properties. So far friction anisotropy is considered to be the result of an asymmetric arrangement of surface nano- and microstructures. However, here we show by using bio-inspired sawtooth-structured surfaces that the anisotropic friction properties are not only controlled by an asymmetric surface topography, but also by the ratio of the sample–substrate stiffness, the aspect ratio of surface structures, and by the substrate roughness. Systematically modifying these parameters, we were able to demonstrate a broad range of friction anisotropies, and for specific sample–substrate combinations even an inversion of the anisotropy. This result highlights the complex interrelation between the different material and topographical parameters on friction properties and sheds new light on the conventional design paradigm of tribological systems. Finally, this result is also of great importance for understanding functional principles of biological materials and surfaces, as such inversion of friction anisotropy may correlate with gait pattern and walking behaviour in climbing animals, which in turn may be used in robotic applications.

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“…To evaluate the energetic cost of the locomotion under the four leg configurations, the specific resistance was used. It is defined as the ratio between the consumed energy and the transferred gross weight times the distance traveled (Manoonpong et al, 2016):…”

Section: Self-organized Locomotion Under Different Leg Orientationsmentioning

confidence: 99%

Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors

et al. 2020

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Self-organization of locomotion characterizes the feature of automatically spontaneous gait generation without preprogrammed limb movement coordination. To study this feature in quadruped locomotion, we propose here a new open-source, small-sized reconfigurable quadruped robot, called Lilibot, with multiple sensory feedback and its physical simulation. Lilibot was designed as a friendly quadrupedal platform with unique characteristics, including light weight, easy handling, modular components, and multiple real-time sensory feedback. Its modular components can be flexibly reconfigured to obtain features, such as different leg orientations for testing the effectiveness and generalization of self-organized locomotion control. Its multiple sensory feedback (i.e., joint angles, joint velocities, joint currents, joint voltages, and body inclination) can support vestibular reflexes and compliant control mechanisms for body posture stabilization and compliant behavior, respectively. To evaluate the performance of Lilibot, we implemented our developed adaptive neural controller on it. The experimental results demonstrated that Lilibot can autonomously and rapidly exhibit adaptive and versatile behaviors, including spontaneous self-organized locomotion (i.e., adaptive locomotion) under different leg orientations, body posture stabilization on a tiltable plane, and leg compliance for unexpected external load compensation. To this end, we successfully developed an open-source, friendly, small-sized, and lightweight quadruped robot with reconfigurable legs and multiple sensory feedback that can serve as a generic quadrupedal platform for research and education in the fields of locomotion, vestibular reflex-based, and compliant control.

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Enhanced Locomotion Efficiency of a Bio-inspired Walking Robot using Contact Surfaces with Frictional Anisotropy

Cited by 43 publications

References 48 publications

Holding tight on feathers - structural specializations and attachment properties of the avian ectoparasiteCrataerina pallida(Diptera, Hippoboscidae)

Holding tight on feathers - structural specializations and attachment properties of the avian ectoparasiteCrataerina pallida(Diptera, Hippoboscidae)

Inversion of friction anisotropy in a bio-inspired asymmetrically structured surface

Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors

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