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Detachment Behavior of Gecko Toe in Functional Strategies for Bionic Toe

Journal of Bionic Engineering 2024年第2期21卷 707-717页

作者： Qingfei Han Wei Wang Huan Shen Xincheng Feng Haoran Zhang Qian Li Yi Sun Huapeng Wu aihong ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Laboratory of Intelligent Machines School of Energy SystemsLappeenranta-Lahti University of Technology53850LappeenrantaFinland State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their toes.The setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific community.The majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the detachment.Along these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this work.More specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 s.Moreover,it was observed that the toe assumed a"U"-shaped structure upon complete detachment.Additionally,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel modes.Increasing the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential components.Lastly,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also conducted.From our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe detachment.Our data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.

关键词： Gecko toes Detachment behavior Finite element analysis Gecko-inspired toe

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Development of Wheel-Legged Biped Robots:A Review

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Journal of Bionic Engineering 2024年第2期21卷 607-634页

作者： Xuefei Liu Yi Sun Shikun Wen Kai Cao Qian Qi Xiaoshu Zhang Huan Shen Guangming Chen jiajun Xu aihong ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged motion.These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness exploration.Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this paper.The hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed.In summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped robots.Finally,this study discusses the key research directions and development trends for the wheel-legged biped robots.

关键词： Wheel-legged biped robot Wheeled motion Legged motion Control strategy

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An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

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Research 2024年第1期2023卷 149-163页

作者： Qian Li Haoze Li Huan Shen Yangguang Yu Haoran He Xincheng Feng Yi Sun Zhiyuan Mao Guangming Chen Zongjun Tian Lida Shen Xiangming Zheng aihong ji College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina

Insects that can perform flapping-wing flight,climb on a wall,and switch smoothly between the 2 locomotion regimes provide us with excellent biomimetic models.However,very few biomimetic robots can perform complex locomotion tasks that combine the 2 abilities of climbing and flying.Here,we describe an aerial–wall amphibious robot that is self-contained for flying and climbing,and that can seamlessly move between the air and wall.It adopts a flapping/rotor hybrid power layout,which realizes not only efficient and controllable flight in the air but also attachment to,and climbing on,the vertical wall through a synergistic combination of the aerodynamic negative pressure adsorption of the rotor power and a climbing mechanism with bionic adhesion performance.On the basis of the attachment mechanism of insect foot pads,the prepared biomimetic adhesive materials of the robot can be applied to various types of wall surfaces to achieve stable climbing.The longitudinal axis layout design of the rotor dynamics and control strategy realize a unique cross-domain movement during the flying–climbing transition,which has important implications in understanding the takeoff and landing of insects.Moreover,it enables the robot to cross the air–wall boundary in 0.4 s(landing),and cross the wall–air boundary in 0.7 s(taking off).The aerial–wall amphibious robot expands the working space of traditional flying and climbing robots,which can pave the way for future robots that can perform autonomous visual monitoring,human search and rescue,and tracking tasks in complex air–wall environments.

关键词： robot smoothly Vertical

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Design of an Active Flexible Spine for Wall Climbing Robot Using Pneumatic Soft Actuators

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Journal of Bionic Engineering 2023年第2期20卷 530-542页

作者： Guangming Chen Tao Lin Gabriel Lodewijks aihong ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China School of Engineering College of EngineeringScience&EnvironmentUniversity of NewcastleCallaghan CampusUniversity DriveCallaghanNSW2308Australia

Wall climbing robots can be used to undertake missions in many unstructured environments.However,current wall climbing robots have mobility difficulties such as in the turning or accelarating.One of the main reasons for the limitations is the poor flexibility of the spines.Soft robotic technology can actively enable structure deformation and stiffness varations,which provides a solution for the design of active flexible spines.This research utilizes pneumatic soft actuators to design a flexible spine with the abilities of actively bending and twisting by each joint.Using bending and torsion moment equilibriums,respectively,from air pressure to material deformations,the bending and twisting models for a single actuator with respect to different pressure are obtained.The theoretical models are verified by finite-element method simulations and experimental tests.In addition,the bending and twisiting motions of single joint and whole spine are analytically modeled.The results show that the bionic spine can perform desired deformations in accordance with the applied pressure on specified chambers.The variations of the stiffness are also numerically assessed.Finally,the effectiveness of the bionic flexible spine for actively producing sequenced motions as biological spine is experimentally validated.This work demonstrated that the peneumatic spine is potential to improve the spine flexibility of wall climbing robot.

关键词： Active spine Bionic design Soft robot Gecko locomotion Finite-element modeling

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Effect of Dual-Tasks Walking on Human Gait Patterns

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Journal of Bionic Engineering 2022年第4期19卷 991-1002页

作者： Xiyuan Zhang Ke Rong Guangming Chen aihong ji Yawei Song Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing 210016China Olympic College Communication University of China NanjingNanjing 211162China Department of Sports Health Sciences Nanjing Sport Institute8 Linggusi RoadNanjing 210014China Centre of Scientific Experiment Nanjing Sport InstituteNanjing 210014China

A human gait pattern conformed to the law of the inverted pendulum and could be described by the movement of its center of mass(COM).A sinusoidal function based on an inverted pendulum was used to plan the COM trajectory of humanoid robots for gait control.Therefore,studying the human dual-tasks gait pattern is essential for improving the gait adaptability of humanoid robots.Many well-known humanoid robot prototypes can complete stable walking,running,jumping,and other movements closely mimicking human beings.This study provides a theoretical reference for the gait planning and design of humanoid robots by comparing differences in the stride time,cadence,step length,step width,stride length,walking speed and COM movement during single-and dual-tasks walking.Results showed no significant difference in the time parameters.In dual-tasks walking,the walking speeds decreased(P=0.001)and the COM sidewise movement increased,indicating an enhancement in the automatic motion rhythm in cognitive tasks.Humans can easily select new different speeds to better adapt to the competition of attention resources.To enhance the adaptability of humanoid robots to the COM offset,the independent motion of the hip joint separated from the trunk and lower limbs must be considered in the robot design.

关键词： Gait analysis Kinematics COM trajectory Kinesiology

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Effects of Morphological Integrity of Secondary Feather on Their Drag Reduction in Pigeons

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Journal of Bionic Engineering 2022年第5期19卷 1422-1438页

作者： Qian Li Huan Shen Qingfei Han aihong ji Zhendong Dai Stanislav N.Gorb Institute of Bio-Inspired Structure and Surface Engineering College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing 210016China Department of Functional Morphology and Biomechanics Kiel UniversityAm Botanischen Garten 924118 KielGermany

Flight feathers of birds interact with the air flow during flight.How the observed low drag and high lift values at wind speeds from 9.0 to 19.8 m/s can be achieved due to the feather aerodynamics remains unknown.In the present paper,we tested and compared morphological changes,drag reduction and flow visualization results of intact,damaged,and artificial feathers at different wind speeds in a wind tunnel.Through the analysis of the drag force and resultant force angle,we proved that the integrity of feathers,whose barbs are usually closely interconnected,played an important role in the drag,which potentially triggers excellent drag reduction performance.The wind tunnel tests indicated that intact secondary feathers had a surprisingly high maximum drag reduction property at v?=?9 m/s compared with the feathers,where the integrity of barbs was damaged.The hook cascades facilitated elasticity under pressure and suitable permeability in an intact feather,when the hooks were interlocked.It was indicated that the suitable permeability of intact feathers would prevent flow separation and reduce drag force at low wind speed;at high wind speed,elasticity under pressure and suitable permeability in an intact feather would facilitate strong squeezing effect,helping feathers withstand larger aerodynamic forces to which they might be subjected during flight.It was revealed that the intact secondary feather is a compromise between strong lift generation and drag reduction,which has a great significance for the bird’s flight.

关键词： Morphological integrity Secondary feather Drag reduction Wind tunnel Smoke visualization Bioinspiration

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Design and Theoretical Research on Aerial-Aquatic Vehicles:A Review

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Journal of Bionic Engineering 2023年第6期20卷 2512-2541页

作者： Yi Sun Xuefei Liu Kai Cao Huan Shen Qian Li Guangming Chen jiajun Xu aihong ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringState Key Laboratory of Mechanics and Control for Aerospace StructuresNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

With the rapid development of unmanned aerial and underwater vehicles,various tasks,such as biodiversity monitoring,surveying,and mapping,as well as,search and rescue can now be completed in a single medium,either underwater or in the air.By systematically examining the water–air cross-medium locomotion of organisms,there has been growing interest in the development of aerial-aquatic vehicles.The goal of this review is to provide a detailed outline of the design and cross-medium theoretical research of the existing aerial-aquatic vehicles based on the research on the organisms capable of transiting between water and air.Although these designs and theoretical frameworks have been validated in many aerial-aquatic vehicles,there are still many problems that need to be addressed,such as inflexible underwater motion and unstable medium conversion.As a result,supplementation of the existing cross-medium biomimetic research,vehicle design,power selection,and cross-medium theory is urgently required to optimize the key technologies in detail.Therefore,by summarizing the existing designs and theoretical approaches on aerial-aquatic vehicles,including biomimetic research on water–air cross-medium locomotion in nature,different power selections,and cross-medium theoretical research,the relative problems and development trends on aerial-aquatic vehicles were thoroughly explored,providing significant help for the subsequent research process.

关键词： Aerial-aquatic vehicle Cross-medium motion Power selection Control theory Biomimetic

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Adhesive Contact in Animal： Morphology, Mechanism and Bio-Inspired Application

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Journal of Bionic Engineering 2011年第4期8卷 345-356页

作者： aihong ji Longbao Han Zhendong Dai Institute of Bio-Inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P. R. China College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P. R. China

Many animals possess adhesive pads on their feet, which are able tO attach to various substrates while controlling adhesive forces during locomotion. This review article studies the morphology of adhesive devices in animals, and the physical mechanisms of wet adhesion and dry adhesion. The adhesive pads are either ＇smooth＇ or densely covered with special adhesive setae. Smooth pads adhere by wet adhesion, which is facilitated by fluid secreted from the pads, whereas hairy pads can adhere by dry adhesion or wet adhesion. Contact area, distance between pad and substrate, viscosity and surface tension of the liquid filling the gap between pad and substrate are the most important factors which determine the wet adhesion. Dry adhesion was found only in hairy pads, which occurs in geckos and spiders. It was demonstrated that van der Waals interaction is the dominant adhesive force in geckos＇ adhesion. The bio-inspired applications derived from adhesive pads are also reviewed.

关键词： biomimetics adhesion animal morphology mechanism

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Pijx confers broad-spectrum seedling and panicle blast resistance by promoting the degradation of ATP b subunit and OsRbohC-mediated ROS burst in rice

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Molecular Plant 2024年第4期17卷 672-675页

作者： Ning Xiao Yunyu Wu Xiaoxiang Zhang Zeyun Hao Zichun Chen Zefeng Yang Yue Cai Ruyi Wang Ling Yu Zhiping Wang Yue Lu Wei Shi Cunhong Pan Yuhong Li Changhai Zhou jianju Liu Niansheng Huang Guangqing Liu Hongjuan ji Shuhao Zhu Shuai Fang Yuese Ning aihong Li 不详

(Molecular Plant 16,1832-1846,November 62023)The originally published version of this manuscript contained several small mistakes in the labels and legends of main and supplemental figures,along with a few small mistakes in the main text,that have now been corrected.Specifically,in Figure 6G,the label“NILGY31^(Pijx)”has been corrected to“NIL^(Pijx)”,and in the legend of Figure 6H,“PPL^(Pijx Piz-t)”and“PPL^(Pijx Pigm)”have been corrected to“NIL^(Piz-t Pijx)”and“PPL^(Pigm Pijx).”In Figure S8A。

关键词： seedling Figure panicle

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The Mechanics and Trajectory Control in Locust Jumping

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Journal of Bionic Engineering 2013年第2期10卷 194-200页

作者： Longbao Han Zhouyi Wang aihong ji Zhendong Dai Institute of Bio-Inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronauties Nanjing 210016 P. R. China China International Engineering Consulting Corporation Beijing 100048 P. R. China

Locusts （Locusta migratoria manilensis） are characterised by their flying ability and abiding jump ability. Research on the jumping mechanics and behavior of locusts plays an important role in elucidating the mechanism of hexapod locomotion. The jump gestures of locusts were observed using high-speed video camera at 250 fps. The reaction forces of the hindlegs were measured using two three-dimensional sensors, in case the two hindlegs attached on separated sensor plates. The jump gestures and reaction forces were used to illustrate the locust jumping mechanism. Results show that the trajectory control is achieved by rapid rolling and yawing movements of the locust body, caused by the forelegs, midlegs and hindlegs in different jumping phases. The final jump trajectory was not determined until hind tarsi left platform. The horizontal co-impulse between two hindlegs might play a key role in jump stability and accuracy. Besides, the angle between two hindlegs affects the control of jump trajectory but has a little effect on the elevation angle of a jump, which is controlled mechanically by the initial position of the hindlegs. This research lays the groundwork for the probable design and development ofbiomimetic robotics.

关键词： locust hindleg reaction force elevation angle jump trajectory

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