Mechanosensory Control of Locomotion in Animals and Robots: Moving Forward

Abstract

While animals swim, crawl, walk, and fly with apparent ease, building robots capable of robust locomotion remains a significant challenge. In this review, we draw attention to mechanosensation––the sensing of mechanical forces generated within and outside the body––as a key sense that enables robust locomotion in animals. We discuss differences between mechanosensation in animals and current robots with respect to 1) the encoding properties and distribution of mechanosensors and 2) the integration and regulation of mechanosensory feedback. We argue that robotics would benefit greatly from a detailed understanding of these aspects in animals. To that end, we highlight promising experimental and engineering approaches to study mechanosensation, emphasizing the mutual benefits for biologists and engineers that emerge from moving forward together.

Tools for connectomic reconstruction and analysis of a femaleDrosophilaventral nerve cord

“…By creating a bridge between the VNC connectome and the body, the MN projection map will facilitate development and analysis of neuromechanical models for flexible motor control (Lobato-Rios et al, 2022; Wang-Chen et al, 2023). The compact sensorimotor circuits that mediate robust control of the fly leg and wing may provide inspiration for engineering of micro-scale robotic systems (Dallmann et al, 2023). Matching cell types and comparing connectivity motifs to the larval connectome (Mark et al, 2021; Winding et al, 2023; Zarin et al, 2019) may provide insight into the development and evolution of sensorimotor circuits (Agrawal and Tuthill, 2022; Heckscher et al, 2015).…”

Mechanical modeling of mechanosensitive insect strain sensors as a tool to investigate exoskeletal interfaces

“…All elliptical CS had the largest microstrain values during left (CS 2, 6, 8) or right (3,7,9,10,11) loading.…”

“…However, understanding mechanosensory feedback in insects to the degree necessary for robotic implementation has been strenuous due to the involvement of both neural and mechanical properties [1,8]. Computational and physical models can aid in the investigation of all factors contributing to the versatility and flexibility in insect and arachnid walking [9][10][11][12][13][14][15]. Ultimately, walking robots can be equipped with bio-inspired sensors that reduce computational costs while increasing, for example, the speed of recovery from perturbations [16].…”

Tiny amphibious insects use tripod gait for seamless transition across land, water, and duckweed

“…These adaptations highlight opportunities for further research in gaits adjustments across substrates, the biological actuation behind traversal in diverse environments, and the implications for semi-aquatic robotics and bio-inspired design in navigating complex media such as sand [34,16]. Inspired by Microvelia, future robotic designs might only require a single adaptable gait for multifaceted environmental navigation, offering insights into mechanosensory affordances for multi-environmental adaptability [27,16,18,35].…”

“…This paper explores the multifaceted terrains Microvelia frequently navigates, offering new avenues for alternating tripod gait research. Understanding Microvelia's consistent gait across different terrains opens potential for microrobots designed for robust travel across diverse landscapes [17,18,16].…”