excerpt from the book: Biomechatronics, Popovic, Academic Press, Elsevier, 2019. (No of pages 668) ISBN 978-0-12-812939-5 https://doi.org/10.1016/C2016-0-04132-3 Copyright © 2019 Elsevier Inc. All rights reserved. Chapter 17, Pages 495-541

Bioinspired Robotics Krishnanand N. Kaipa*, Cagdas Onal†, Vukica Jovanovic*, Ana Djuric‡,

Ming Luo§, Matthew P. Bowers†, Marko B. Popovic†

*OLD DOMINION UNIVERSITY, NORFOLK, VA, UNITED STATES †WORCESTER

POLYTECHNIC INSTITUTE, WORCESTER, MA, UNITED STATES ‡WAYNE STATE

UNIVERSITY, DETROIT, MI, UNITED STATES §STANFORD UNIVERSITY, STANFORD, CA,

UNITED STATES

Abstract

Animals and insects evolved distinct traits over millions of years of natural selection, which enable them

to adapt to, and perform reliably in, a variety of unstructured environments. Nature abounds in examples

of such natural creatures that exploit features like softness, compliance, and configurability to achieve

effective interactions with their surroundings. Robotic replicas with similar adaptation capabilities can be

created by copying some of these crucial elements into the robots’ designs. This chapter describes the

approach of using biological inspiration for the design of robotic systems. Representative examples of

bioinspired robots used for locomotion and manipulation are described. Soft-robotic systems, which

represent the latest advances in the field of bioinspired robotics are also described. Finally, examples

algorithmic bioinspiration, including locomotion gaits, central pattern generators, and multirobot

coordination are discussed.

CHAPTER OUTLINE

17.1 Introduction: Bioinspiration ................................................................................................... 495

17.2 Bioinspired Locomotion ......................................................................................................... 498

17.2.1 Terrestrial Mobile Robots ...................................................................................................499

17.2.2 Bioinspired Aerial Robots ....................................................................................................507

17.3 Bioinspired Manipulation ....................................................................................................... 513

17.3.1 Robotic Arms .......................................................................................................................513

17.3.2 Anthropomorphic Robotic Hands .......................................................................................521

17.4 Bioinspired Soft-Robotic Systems ........................................................................................... 525

17.5 Algorithmic Bioinspiration ..................................................................................................... 528

17.5.1 Bioinspired Gaits .................................................................................................................528

17.5.2 Central Pattern Generators .................................................................................................532

References .................................................................................................................................... 534

Further Reading ............................................................................................................................. 541

Biomechatronics. https://doi.org/10.1016/B978-0-12-812939-5.00017-3

© 2019 Elsevier Inc. All rights reserved.

[chapter content intentionally omitted]

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