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Luke Chang & Yang Zhang
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Introduction Classification of Biomimetic Robots History of Biomimetic Robots Applications of Biomimetic Robots Example References
What are the Biomimetic Robots?
• Biomimetic robots borrow their structure and senses from animals, such as birds or insects. Their abilities are copied from earth's greatest examples of success, living organisms; they tend to function better in the unpredictable real world than the controlled artifice of a laboratory. • However, those robots do not completely copy from animals, we actually extract those most useful abilities, that is, we may make some modifications on the body structure of the robots in order to make our designs more practical.
The categories of the Biomimetic Robots • There are different criterions Imitation Objective mammals insects fishes amphibians Applications military medical engineering entertainment Way of Action ambulate wiggle swim slide some of the criterions .
• This model is established in the 1970s by Joseph Ayers. a biology professor at Northeastern University. The actions of real lobsters have been reverseengineered and programmed into a library of actions which give the robotic lobster a similar behavior as the real ones. .The history of the Biomimetic The most well-known early • Robots biomimetic robots were a lobster.
. • Birds.The history of the Biomimetic Robots • With the rapid development of biology and computer technology. snakes. amphibians etc. it is possible for us to deeply understand and imitate the behaviors of many other animals. insects. • Actually. biomimetic robotics is an emerging subject that keeps developing these several years and has great potential in future.
General process • Extract some certain special characteristics from animals • Design the similar robots • Utilize such robots to finish some special works .
we can see that the scientist attempts to copy the structure of a worm (caterpillar). These robots will possibly have applications in biomedical diagnosis and surgery. . using soft materials and incorporating them into a new type of highly flexible robot. and for monitoring or repairing space vehicles. emergency rescue and exploration.In this case.
.What about more smaller ones? What if we could imitate the body structure and the behavior of small insects like mosquito or bee? We can use such robots in certain circumstance as tiny space where human and traditional robots can not work. they can also search for survivors after earthquake. They can perfectly finish a investigation task without alarming anyone. Moreover. Or they can be used in military affairs.
We then could use these robots to do some special investigations underwater. we can design a robot which can use fin and tail to generate vortex. it can swim like a fish in the water. Fishlike Robot .Fishlike robot is currently a very popular topic. Simulating the unique model of action of fishes.
without limbs yet can crawl on the ground. swim in water or climb onto trees. the victor of competition for survival. • One of the most successful creature in the earth.Example • Think about snakes. • Have the most unique manner of movement. . lean and lanky. design snakelike robots which can handle lots of special tasks. • Have a special body structure. soft and flexible… • We can take advantage of such characteristics.
Snakelike robots • • • • Different ways of movement Structure Applications Combinations .
a snake has several manners of moving as follows: • Straight Progression • Strafing .Different ways of movement Generally speaking.
Different ways of movement • pipe climbing (outside) • pipe climbing (inside) • Sliding .
Different ways of movement • channel climbing • swimming .
Interaction forces along the snakelike mechanisms in simultaneous contact with three push-points Control algorithm for the snakelike mechanism Curve fitting with three simultaneous contact points .
.Eight intermediary configurations with initial (1) and final (8) conditions of the mechanism for a given trajectory. the reader is referred to the web version of this article. (For interpretation of the references to color in this figure legend. Red points indicate the contacted push-points.
it has wheels instead of snake’s scales .For sliding more smoothly.
Universal joint .
Universal joint .
Applications Urban Search and Rescue With the highly flexible body structure of a snakelike robot. . we are able to do some tough search when investigating or finding survivors.
Or we can use such feature to inspect special interior structure (e. tank) .g.
On ground .Combinations In water Add legs to a snakelike robot. a snakelike Robot can do inspection more automatically. then it can move with more flexible ways. Combining with a 4-wheels bracket.
References • The Tufts Biomimetic Devices Laboratory (BDL) • Biologically Inspired Robotics Group • The Stanford Biomimetic and Dexterous Manipulation Laboratory • Carnegie Mellon University (CMU) Robotics Institute (RI) Bio-robotics Laboratory • Olin College Biomimetic Robotics Lab .
Any Question? .