Mole crab-inspired vertical self-burrowing.

We present EMBUR-EMerita BUrrowing Robot-the first legged robot inspired by the Pacific mole crab, Emerita analoga, capable of burrowing vertically downward. We choose Emerita analoga as a model organism for its rapid downward burrowing behaviors, as it is four times as fast as the most rapid bivalve mollusk. Vertical burrowing in granular media is a challenging endeavor due to the tendency for the media to create upwards resistive forces on an intruder, even during purely horizontal motions. Our robot is capable of vertically burrowing its body in granular substrate primarily through excavation using two leg pairs, which are functionally analogous to groupings of leg pairs of the mole crab. We implement a novel leg mechanism with a sweeping trajectory, using compliant fabric to enable an anisotropic force response. The maximum resistive force during the power stroke is 6.4 times that of the return stroke. We compare robot body pitch and spatial trajectories with results from biomechanical studies of the mole crabs. We characterize the sensitivity of the robot to initial depth, body pitch and leg pose, and propose bounds on initial conditions which predict various burrowing failure modes. Parametric studies utilizing Granular Resistive Force Theory inform our understanding of robot behavior in response to leg phasing and orientation. Not only does this robotic platform represent the first robophysical model of vertical mole crab-inspired burrowing, it is also one of the first legged, primarily excavative small-scale burrowing agents.

Incline-dependent adjustments of toes in geckos inspire functional strategies for biomimetic manipulators.

Geckos show versatility by rapidly maneuvering on diverse complex terrain because they benefit from their distributed, setae-covered toes and thus have the ability to generate reliable and adaptive attachment. Significant attention has been paid to their adhesive microstructures (setae), but the effectiveness of the gecko's adaptive attachment at the level of toes and feet remains unclear. In order to better understand the geckos' attachment, we first focused on the deployment of toes while challenging geckos to locomote on varying inclines. When the slope angle was less than 30°, their feet mainly interacted with the substrate using the bases of the toes and generated anisotropic frictional forces. As the slope angle increased to 90°, the participation of the toe bases was reduced. Instead, the setae contribution increased for the middle three toes of the front feet and for the first three toes of the hind feet. As the incline changed from vertical to inverted, the adhesive contribution of the toes of the front feet became more equal, whereas the effective adhesion contact of the hind feet gradually shifted to the toes oriented rearwards. Second, a mathematical model was established and then suggested the potential advantages of distributed control among the toes to regulate foot force. Finally, a physical foot model containing five compliant, adjustable toes was constructed and validated the discoveries with regard to the animals. Using the gecko toes' control strategies, the artificial foot demonstrated diverse behavior regulating attachment forces. The success of the foot prototype not only tested our understanding of the mechanism of biological attachment, but also provided a demonstration for the design and control of gecko-inspired attachment devices, grippers and other manipulators.

Tails stabilize landing of gliding geckos crashing head-first into tree trunks.

Animals use diverse solutions to land on vertical surfaces. Here we show the unique landing of the gliding gecko, Hemidactylus platyurus. Our high-speed video footage in the Southeast Asian rainforest capturing the first recorded, subcritical, short-range glides revealed that geckos did not markedly decrease velocity prior to impact. Unlike specialized gliders, geckos crashed head-first with the tree trunk at 6.0 ± 0.9 m/s (~140 body lengths per second) followed by an enormous pitchback of their head and torso 103 ± 34° away from the tree trunk anchored by only their hind limbs and tail. A dynamic mathematical model pointed to the utility of tails for the fall arresting response (FAR) upon landing. We tested predictions by measuring foot forces during landing of a soft, robotic physical model with an active tail reflex triggered by forefoot contact. As in wild animals, greater landing success was found for tailed robots. Experiments showed that longer tails with an active tail reflex resulted in the lower adhesive foot forces necessary for stabilizing successful landings, with a tail shortened to 25% requiring over twice the adhesive foot force.

Eyes Toward Tomorrow Program Enhancing Collaboration, Connections, and Community Using Bioinspired Design.

The goal of our Eyes Toward Tomorrow Program is to enrich the future workforce with STEM by providing students with an early, inspirational, interdisciplinary experience fostering inclusive excellence. We attempt to open the eyes of students who never realized how much their voice is urgently needed by providing an opportunity for involvement, imagination, invention, and innovation. Students see how what they are learning, designing, and building matters to their own life, community, and society. Our program embodies convergence by obliterating artificially created, disciplinary boundaries to go far beyond STEM or even STEAM by including artists, designers, social scientists, and entrepreneurs collaborating in diverse teams using scientific discoveries to create inventions that could shape our future. Our program connects two recent revolutions by amplifying Bioinspired Design with the Maker Movement and its democratizing effects empowering anyone to innovate and change the world. Our course is founded in original discovery. We explain the process of biological discovery and the importance of scaling, constraints, and complexity in selecting systems for bioinspired design. By spotlighting scientific writing and publishing, students become more science literate, learn how to decompose a biology research paper, extract the principles, and then propose a novel design by analogy. Using careful, early scaffolding of individual design efforts, students build the confidence to interact in teams. Team building exercises increase self-efficacy and reveal the advantages of a diverse set of minds. Final team video and poster project designs are presented in a public showcase. Our program forms a student-centered creative action community comprised of a large-scale course, student-led classes, and a student-created university organization. The program structure facilitates a community of learners that shifts the students' role from passive knowledge recipients to active co-constructors of knowledge being responsible for their own learning, discovery, and inventions. Students build their own shared database of discoveries, classes, organizations, research openings, internships, and public service options. Students find next step opportunities so they can see future careers. Description of our program here provides the necessary context for our future publications on assessment that examine 21st century skills, persistence in STEM, and creativity.

Acrobatic squirrels learn to leap and land on tree branches without falling.

Arboreal animals often leap through complex canopies to travel and avoid predators. Their success at making split-second, potentially life-threatening decisions of biomechanical capability depends on their skillful use of acrobatic maneuvers and learning from past efforts. Here, we found that free-ranging fox squirrels (Sciurus niger) leaping across unfamiliar, simulated branches decided where to launch by balancing a trade-off between gap distance and branch-bending compliance. Squirrels quickly learned to modify impulse generation upon repeated leaps from unfamiliar, compliant beams. A repertoire of agile landing maneuvers enabled targeted leaping without falling. Unanticipated adaptive landing and leaping "parkour" behavior revealed an innovative solution for particularly challenging leaps. Squirrels deciding and learning how to launch and land demonstrates the synergistic roles of biomechanics and cognition in robust gap-crossing strategies.

Mechanisms for Mid-Air Reorientation Using Tail Rotation in Gliding Geckos.

Arboreal animals face numerous challenges when negotiating complex three-dimensional terrain. Directed aerial descent or gliding flight allows for rapid traversal of arboreal environments, but presents control challenges. Some animals, such as birds or gliding squirrels, have specialized structures to modulate aerodynamic forces while airborne. However, many arboreal animals do not possess these specializations but still control posture and orientation in mid-air. One of the largest inertial segments in lizards is their tail. Inertial reorientation can be used to attain postures appropriate for controlled aerial descent. Here, we discuss the role of tail inertia in a range of mid-air reorientation behaviors using experimental data from geckos in combination with mathematical and robotic models. Geckos can self-right in mid-air by tail rotation alone. Equilibrium glide behavior of geckos in a vertical wind tunnel show that they can steer toward a visual stimulus by using rapid, circular tail rotations to control pitch and yaw. Multiple coordinated tail responses appear to be required for the most effective terminal velocity gliding. A mathematical model allows us to explore the relationship between morphology and the capacity for inertial reorientation by conducting sensitivity analyses, and testing control approaches. Robotic models further define the limits of performance and generate new control hypotheses. Such comparative analysis allows predictions about the diversity of performance across lizard morphologies, relative limb proportions, and provides insights into the evolution of aerial behaviors.

Size, shape and orientation of macro-sized substrate protrusions affect the toe and foot adhesion of geckos.

Geckos are excellent climbers using compliant, hierarchically arranged adhesive toes to negotiate diverse terrains varying in roughness at multiple size scales. Here, we complement advancements at smaller size scales with measurements at the macro scale. We studied the attachment of a single toe and whole foot of geckos on macroscale rough substrates by pulling them along, across and off smooth rods and spheres mimicking different geometric protrusions of substrates. When we pulled a single toe along rods, the force increased with the rod diameter, whereas the attachment force of dragging toes across rods increased from about 60% on small diameter rods relative to a flat surface to ∼100% on larger diameter rods, but showed no further increase as rod diameter doubled. Toe force also increased as the pulling changed from along-rod loading to across-rod loading. When toes were pulled off spheres, the force increased with increasing sphere diameter as observed for along-rod pulling. For feet with separated toes, attachment on spheres was stronger than that on rods with the same diameter. Attachment force of a foot decreased as rod and sphere size increased but remained sufficient to support the body weight of geckos. These results provide a bridge to the macroscale roughness seen in nature by revealing the importance of the dimension, shape and orientation of macroscale substrate features for compliant toe and foot function of geckos. Our data not only enhance our understanding of geckos' environmental adaptive adhesion but can also provide inspiration for novel robot feet in development.

Role of multiple, adjustable toes in distributed control shown by sideways wall-running in geckos.

Remarkable progress has been made characterizing one of nature's most integrated, hierarchical structures--the fibrillar adhesive system of geckos. Nonetheless, we lack an understanding of how multiple toes coordinate to facilitate geckos' acrobatic locomotion. Here, we tested the control function of gecko toes by running them on vertical substrates varying in orientation, friction and roughness. Sideways wall-running geckos realigned the toes of their top feet upward to resist gravity. Toe contact area was not compromised, but redistributed. Geckos aligned all toes upward to resist slipping when encountering low-friction patches during sideways wall-running. Negotiation of intermittent slippery strips showed an increased contribution of particular toes to compensate for toes that lost adhesion. Increasing substrate roughness using discrete rods perpendicular to sideways locomotion resulted in geckos bending and/or rotating toes to conform to and even grasp the rods, with potential forces more than five times body weight. Geckos increase their effectiveness of manoeuvrability in demanding environments by taking advantage of the distributed control afforded by multiple toes. Our findings provide insight on biological attachment and offer inspiration to advance gecko-inspired robotics and other biomimetic applications.

Cockroaches use diverse strategies to self-right on the ground.

Terrestrial animals often must self-right from an upside-down orientation on the ground to survive. Here, we compared self-righting strategies of the Madagascar hissing, American and discoid cockroaches on a challenging flat, rigid, low-friction surface to quantify the mechanical principles. All three species almost always self-righted (97% probability) when given time (30 s), frequently self-righted (63%) on the first attempt, and on that attempt did so in 1 s or less. When successful, two of the three species gained and used pitch and/or roll rotational kinetic energy to overcome potential energy barriers (American 63% of all attempts and discoid 78%). By contrast, the largest, heaviest, wingless cockroach (Madagascar hissing) relied far less on the energy of motion and was the slowest to self-right. Two of the three species used rolling strategies to overcome low potential energy barriers. Successful righting attempts had greater rolling rotation than failed attempts as the center of mass rose to the highest position. Madagascar hissing cockroaches rolled using body deformation (98% of all trials) and the American cockroach rolled using leg forces (93%). By contrast, the discoid cockroach overcame higher and a wider range of potential energy barriers with simultaneous pitching and rolling using the wings (46% of all trials) and legs (49%) equally to self-right. Our quantification revealed the performance advantages of using rotational kinetic energy to overcome the potential energy barrier and rolling more to lower it, while maintaining diverse strategies for ground-based self-righting.

Ten robotics technologies of the year.

We identify 10 exciting robotics developments and technologies, ranging from original research that may change the future of robotics to commercial products that enable basic science and drive industrial and medical innovations.

Insect-scale fast moving and ultrarobust soft robot.

Mobility and robustness are two important features for practical applications of robots. Soft robots made of polymeric materials have the potential to achieve both attributes simultaneously. Inspired by nature, this research presents soft robots based on a curved unimorph piezoelectric structure whose relative speed of 20 body lengths per second is the fastest measured among published artificial insect-scale robots. The soft robot uses several principles of animal locomotion, can carry loads, climb slopes, and has the sturdiness of cockroaches. After withstanding the weight of an adult footstep, which is about 1 million times heavier than that of the robot, the system survived and continued to move afterward. The relatively fast locomotion and robustness are attributed to the curved unimorph piezoelectric structure with large amplitude vibration, which advances beyond other methods. The design principle, driving mechanism, and operating characteristics can be further optimized and extended for improved performances, as well as used for other flexible devices.

Geckos Race Across the Water's Surface Using Multiple Mechanisms.

Acrobatic geckos can sprint at high speeds over challenging terrain [1], scamper up the smoothest surfaces [2], rapidly swing underneath leaves [3], and right themselves in midair by swinging only their tails [4, 5]. From our field observations, we can add racing on the water's surface to the gecko's list of agile feats. Locomotion at the air-water interface evolved in over a thousand species, including insects, fish, reptiles, and mammals [6]. To support their weight, some larger-legged vertebrates use forces generated by vigorous slapping of the fluid's surface followed by a stroke of their appendage [7-12], whereas smaller animals, like arthropods, rely on surface tension to walk on water [6, 13]. Intermediate-sized geckos (Hemidactylus platyurus) fall squarely between these two regimes. Here, we report the unique ability of geckos to exceed the speed limits of conventional surface swimming. Several mechanisms likely contribute in this intermediate regime. In contrast to bipedal basilisk lizards [7-10], geckos used a stereotypic trotting gait with all four limbs, creating air cavities during slapping to raise their head and anterior trunk above water. Adding surfactant to the water decreased velocity by half, confirming surface tension's role. The superhydrophobic skin could reduce drag during semi-planing. Geckos laterally undulated their bodies, including their submerged posterior trunk and tail, generating thrust for forward propulsion, much like water dragons [14] and alligators [15]. Geckos again remind us of the advantages of multi-functional morphologies providing the opportunity for multiple mechanisms for motion.

Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots.

Exceptional performance is often considered to be elegant and free of 'errors' or missteps. During the most extreme escape behaviours, neural control can approach or exceed its operating limits in response time and bandwidth. Here we show that small, rapid running cockroaches with robust exoskeletons select head-on collisions with obstacles to maintain the fastest escape speeds possible to transition up a vertical wall. Instead of avoidance, animals use their passive body shape and compliance to negotiate challenging environments. Cockroaches running at over 1 m or 50 body lengths per second transition from the floor to a vertical wall within 75 ms by using their head like an automobile bumper, mechanically mediating the manoeuvre. Inspired by the animal's behaviour, we demonstrate a passive, high-speed, mechanically mediated vertical transitions with a small, palm-sized legged robot. By creating a collision model for animal and human materials, we suggest a size dependence favouring mechanical mediation below 1 kg that we term the 'Haldane limit'. Relying on the mechanical control offered by soft exoskeletons represents a paradigm shift for understanding the control of small animals and the next generation of running, climbing and flying robots where the use of the body can off-load the demand for rapid sensing and actuation.

Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot.

Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed crevices in 300-800 ms by compressing their body 40-60%. High-speed videography revealed crevice negotiation to be a complex, discontinuous maneuver. After traversing horizontal crevices to enter a vertically confined space, cockroaches crawled at velocities approaching 60 cm⋅s(-1), despite body compression and postural changes. Running velocity, stride length, and stride period only decreased at the smallest crevice height (4 mm), whereas slipping and the probability of zigzag paths increased. To explain confined-space running performance limits, we altered ceiling and ground friction. Increased ceiling friction decreased velocity by decreasing stride length and increasing slipping. Increased ground friction resulted in velocity and stride length attaining a maximum at intermediate friction levels. These data support a model of an unexplored mode of locomotion--"body-friction legged crawling" with body drag, friction-dominated leg thrust, but no media flow as in air, water, or sand. To define the limits of body compression in confined spaces, we conducted dynamic compressive cycle tests on living animals. Exoskeletal strength allowed cockroaches to withstand forces 300 times body weight when traversing the smallest crevices and up to nearly 900 times body weight without injury. Cockroach exoskeletons provided biological inspiration for the manufacture of an origami-style, soft, legged robot that can locomote rapidly in both open and confined spaces.

Principles of appendage design in robots and animals determining terradynamic performance on flowable ground.

Natural substrates like sand, soil, leaf litter and snow vary widely in penetration resistance. To search for principles of appendage design in robots and animals that permit high performance on such flowable ground, we developed a ground control technique by which the penetration resistance of a dry granular substrate could be widely and rapidly varied. The approach was embodied in a device consisting of an air fluidized bed trackway in which a gentle upward flow of air through the granular material resulted in a decreased penetration resistance. As the volumetric air flow, Q, increased to the fluidization transition, the penetration resistance decreased to zero. Using a bio-inspired hexapedal robot as a physical model, we systematically studied how locomotor performance (average forward speed, v(x)) varied with ground penetration resistance and robot leg frequency. Average robot speed decreased with increasing Q, and decreased more rapidly for increasing leg frequency, ω. A universal scaling model revealed that the leg penetration ratio (foot pressure relative to penetration force per unit area per depth and leg length) determined v(x) for all ground penetration resistances and robot leg frequencies. To extend our result to include continuous variation of locomotor foot pressure, we used a resistive force theory based terradynamic approach to perform numerical simulations. The terradynamic model successfully predicted locomotor performance for low resistance granular states. Despite variation in morphology and gait, the performance of running lizards, geckos and crabs on flowable ground was also influenced by the leg penetration ratio. In summary, appendage designs which reduce foot pressure can passively maintain minimal leg penetration ratio as the ground weakens, and consequently permits maintenance of effective locomotion over a range of terradynamically challenging surfaces.

Using Active Learning to Teach Concepts and Methods in Quantitative Biology.

This article provides a summary of the ideas discussed at the 2015 Annual Meeting of the Society for Integrative and Comparative Biology society-wide symposium on Leading Students and Faculty to Quantitative Biology through Active Learning. It also includes a brief review of the recent advancements in incorporating active learning approaches into quantitative biology classrooms. We begin with an overview of recent literature that shows that active learning can improve students' outcomes in Science, Technology, Engineering and Math Education disciplines. We then discuss how this approach can be particularly useful when teaching topics in quantitative biology. Next, we describe some of the recent initiatives to develop hands-on activities in quantitative biology at both the graduate and the undergraduate levels. Throughout the article we provide resources for educators who wish to integrate active learning and technology into their classrooms.

Interdisciplinary Laboratory Course Facilitating Knowledge Integration, Mutualistic Teaming, and Original Discovery.

Experiencing the thrill of an original scientific discovery can be transformative to students unsure about becoming a scientist, yet few courses offer authentic research experiences. Increasingly, cutting-edge discoveries require an interdisciplinary approach not offered in current departmental-based courses. Here, we describe a one-semester, learning laboratory course on organismal biomechanics offered at our large research university that enables interdisciplinary teams of students from biology and engineering to grow intellectually, collaborate effectively, and make original discoveries. To attain this goal, we avoid traditional "cookbook" laboratories by training 20 students to use a dozen research stations. Teams of five students rotate to a new station each week where a professor, graduate student, and/or team member assists in the use of equipment, guides students through stages of critical thinking, encourages interdisciplinary collaboration, and moves them toward authentic discovery. Weekly discussion sections that involve the entire class offer exchange of discipline-specific knowledge, advice on experimental design, methods of collecting and analyzing data, a statistics primer, and best practices for writing and presenting scientific papers. The building of skills in concert with weekly guided inquiry facilitates original discovery via a final research project that can be presented at a national meeting or published in a scientific journal.

Terradynamically streamlined shapes in animals and robots enhance traversability through densely cluttered terrain.

Many animals, modern aircraft, and underwater vehicles use fusiform, streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through cluttered terrain where three-dimensional, multi-component obstacles like grass, shrubs, vines, and leaf litter also resist motion, but it is unknown whether their body shape plays a major role in traversal. Few ground vehicles or terrestrial robots have used body shape to more effectively traverse environments such as cluttered terrain. Here, we challenged forest-floor-dwelling discoid cockroaches (Blaberus discoidalis) possessing a thin, rounded body to traverse tall, narrowly spaced, vertical, grass-like compliant beams. Animals displayed high traversal performance (79 ± 12% probability and 3.4 ± 0.7 s time). Although we observed diverse obstacle traversal strategies, cockroaches primarily (48 ± 9% probability) used a novel roll maneuver, a form of natural parkour, allowing them to rapidly traverse obstacle gaps narrower than half their body width (2.0 ± 0.5 s traversal time). Reduction of body roundness by addition of artificial shells nearly inhibited roll maneuvers and decreased traversal performance. Inspired by this discovery, we added a thin, rounded exoskeletal shell to a legged robot with a nearly cuboidal body, common to many existing terrestrial robots. Without adding sensory feedback or changing the open-loop control, the rounded shell enabled the robot to traverse beam obstacles with gaps narrower than shell width via body roll. Such terradynamically 'streamlined' shapes can reduce terrain resistance and enhance traversability by assisting effective body reorientation via distributed mechanical feedback. Our findings highlight the need to consider body shape to improve robot mobility in real-world terrain often filled with clutter, and to develop better locomotor-ground contact models to understand interaction with 3D, multi-component terrain.

Sensory processing within cockroach antenna enables rapid implementation of feedback control for high-speed running maneuvers.

Animals are remarkably stable during high-speed maneuvers. As the speed of locomotion increases, neural bandwidth and processing delays can limit the ability to achieve and maintain stable control. Processing the information of sensory stimuli into a control signal within the sensor itself could enable rapid implementation of whole-body feedback control during high-speed locomotion. Here, we show that processing in antennal afferents is sufficient to act as the control signal for a fast sensorimotor loop. American cockroaches Periplaneta americana use their antennae to mediate escape running by tracking vertical surfaces such as walls. A control theoretic model of wall following predicts that stable control is possible if the animal can compute wall position (P) and velocity, its derivative (D). Previous whole-nerve recordings from the antenna during simulated turning experiments demonstrated a population response consistent with P and D encoding, and suggested that the response was synchronized with the timing of a turn executed while wall following. Here, we record extracellularly from individual mechanoreceptors distributed along the antenna and show that these receptors encode D and have distinct latencies and filtering properties. The summed output of these receptors can be used as a control signal for rapid steering maneuvers. The D encoding within the antenna in addition to the temporal filtering properties and P dependence of the population of afferents support a sensory-encoding notion from control theory. Our findings support the notion that peripheral sensory processing can enable rapid implementation of whole-body feedback control during rapid running maneuvers.

Mechanical processing via passive dynamic properties of the cockroach antenna can facilitate control during rapid running.

The integration of information from dynamic sensory structures operating on a moving body is a challenge for locomoting animals and engineers seeking to design agile robots. As a tactile sensor is a physical linkage mediating mechanical interactions between body and environment, mechanical tuning of the sensor is critical for effective control. We determined the open-loop dynamics of a tactile sensor, specifically the antenna of the American cockroach, Periplaneta americana, an animal that escapes predators by using its antennae during rapid closed-loop tactilely mediated course control. Geometrical measurements and static bending experiments revealed an exponentially decreasing flexural stiffness (EI) from base to tip. Quasi-static experiments with a physical model support the hypothesis that a proximodistally decreasing EI can simplify control by increasing preview distance and allowing effective mapping to a putative control variable--body-to-wall distance--compared with an antenna with constant EI. We measured the free response at the tip of the antenna following step deflections and determined that the antenna rapidly damps large deflections: over 90% of the perturbation is rejected within the first cycle, corresponding to almost one stride period during high-speed running (~50 ms). An impulse-like perturbation near the tip revealed dynamics that were characteristic of an inelastic collision, keeping the antenna in contact with an object after impact. We contend that proximodistally decreasing stiffness, high damping and inelasticity simplify control during high-speed tactile tasks by increasing preview distance, providing a one-dimensional map between antennal bending and body-to-wall distance, and increasing the reliability of tactile information.