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Springer Handbook of Robotics pp 543–574Cite as

Biomimetic Robots

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Abstract

Biomimetic robot designs attempt to translate biological principles into engineered systems, replacing more classical engineering solutions in order to achieve a function observed in the natural system. This chapter will focus on mechanism design for bio-inspired robots that replicate key principles from nature with novel engineering solutions. The challenges of biomimetic design include developing a deep understanding of the relevant natural system and translating this understanding into engineering design rules. This often entails the development of novel fabrication and actuation to realize the biomimetic design.

This chapter consists of four sections. In Sect. 23.1, we will define what biomimetic design entails, and contrast biomimetic robots with bio-inspired robots. In Sect. 23.2, we will discuss the fundamental components for developing a biomimetic robot. In Sect. 23.3, we will review detailed biomimetic designs that have been developed for canonical robot locomotion behaviors including flapping-wing flight, jumping, crawling, wall climbing, and swimming. In Sect. 23.4, we will discuss the enabling technologies for these biomimetic designs including material and fabrication.

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Abbreviations

2-D:

two-dimensional

3-D:

three-dimensional

ACM:

active cord mechanism

BFA:

bending fluidic actuator

CF:

carbon fiber

CFRP:

carbon fiber reinforced prepreg

CPG:

central pattern generation

DC:

direct current

DOF:

degree of freedom

FDM:

fused deposition modeling

FRP:

fiber-reinforced prepreg

IPMC:

ionic polymer-metal composite

MAV:

micro aerial vehicles

MEMS:

microelectromechanical system

MFI:

micromechanical flying insect

MLR:

mesencephalic locomotor region

PDMS:

polydimethylsiloxane

PneuNet:

pneumatic network

RP:

rapid prototyping

SCM:

smart composite microstructure

SDM:

shape deposition manufacturing

SLA:

stereolithography

SLS:

selective laser sintering

SMA:

shape memory alloy

SSC:

smart soft composite

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Authors and Affiliations

  1. Biorobotics Laboratory, Seoul National University, 1 Gwanak-ro, Gwanak-gu, 151-744, Seoul, Korea

    Kyu-Jin Cho

  2. School of Engineering and Applied Sciences, Harvard University, 149 Maxwell-Dworkin, MA 02138, Cambridge, USA

    Robert Wood

Authors
  1. Kyu-Jin Cho
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Correspondence to Kyu-Jin Cho .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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The long-jumping robot ’Grillo’ available from http://handbookofrobotics.org/view-chapter/23/videodetails/278

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A miniature 7 g jumping robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/279

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A single motor actuated miniature steerable jumping robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/280

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The Flea: Flea-inpired light jumping robot using elastic catapultwith active storage and release mechanism available from http://handbookofrobotics.org/view-chapter/23/videodetails/281

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Jumping & landing robot ’MOWGLI’ available from http://handbookofrobotics.org/view-chapter/23/videodetails/285

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RoACH: A 2.4 g, untethered crawling hexapod robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/286

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A new form of peristaltic locomotion in a robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/287

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Meshworm available from http://handbookofrobotics.org/view-chapter/23/videodetails/288

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Treebot: Autonomous tree climbing by tactile sensing available from http://handbookofrobotics.org/view-chapter/23/videodetails/289

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Omegabot : Inchworm inspired robot climbing available from http://handbookofrobotics.org/view-chapter/23/videodetails/290

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GoQBot: Insanely fast robot caterpillar available from http://handbookofrobotics.org/view-chapter/23/videodetails/291

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SpinybotII: Climbing hard walls with compliant microspines available from http://handbookofrobotics.org/view-chapter/23/videodetails/388

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Smooth vertical surface climbing with directional adhesion available from http://handbookofrobotics.org/view-chapter/23/videodetails/389

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Biologically inspired climbing with a hexapedal robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/390

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CLASH: Climbing vertical loose cloth available from http://handbookofrobotics.org/view-chapter/23/videodetails/391

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Torque control strategies for snake robots available from http://handbookofrobotics.org/view-chapter/23/videodetails/392

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Snake robot climbs a tree available from http://handbookofrobotics.org/view-chapter/23/videodetails/393

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Snake robot in the water available from http://handbookofrobotics.org/view-chapter/23/videodetails/394

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Salamandra Robotica II robot walking and swimming available from http://handbookofrobotics.org/view-chapter/23/videodetails/395

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ACM-R5H available from http://handbookofrobotics.org/view-chapter/23/videodetails/397

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Pop-up fabrication of the Harvard monolithic bee (Mobee) available from http://handbookofrobotics.org/view-chapter/23/videodetails/398

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Controlled flight of a biologically-inspired, insect-scale robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/399

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Rhex the parkour robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/400

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Mini whegs available from http://handbookofrobotics.org/view-chapter/23/videodetails/401

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Robot dragonfly DelFly explorer flies autonomously available from http://handbookofrobotics.org/view-chapter/23/videodetails/402

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Standford Sprawl and iSprawl available from http://handbookofrobotics.org/view-chapter/23/videodetails/403

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DASH: Resilient high-speed 16 g hexapedal robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/405

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HAMR3: An autonomous 1.7 g ambulatory robot available from http://handbookofrobotics.org/view-chapter/23/videodetails/406

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Undulatory gaits in a centipede millirobot available from http://handbookofrobotics.org/view-chapter/23/videodetails/407

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VelociRoACH available from http://handbookofrobotics.org/view-chapter/23/videodetails/408

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Underactuated adaptive gripper using flexural buckling available from http://handbookofrobotics.org/view-chapter/23/videodetails/409

:

Flytrap-inspired bi-stable gripper available from http://handbookofrobotics.org/view-chapter/23/videodetails/410

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An octopus-bioinspired solution to movement and manipulation for soft robots available from http://handbookofrobotics.org/view-chapter/23/videodetails/411

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Landing and perching UAV available from http://handbookofrobotics.org/view-chapter/23/videodetails/412

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Dynamic surface grasping with directional adhesion available from http://handbookofrobotics.org/view-chapter/23/videodetails/413

:

Gravity-independent rock-climbing robot and a sample acquisition toolwith microspine grippers available from http://handbookofrobotics.org/view-chapter/23/videodetails/414

:

Avian-inspired perching mechanism with UAV available from http://handbookofrobotics.org/view-chapter/23/videodetails/415

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A perching mechanism for micro aerial vehicles available from http://handbookofrobotics.org/view-chapter/23/videodetails/416

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G9 series robotic fish available from http://handbookofrobotics.org/view-chapter/23/videodetails/431

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Ichthus available from http://handbookofrobotics.org/view-chapter/23/videodetails/432

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Autonomous, self-contained soft robotic fish available from http://handbookofrobotics.org/view-chapter/23/videodetails/433

:

Robotic Ray takes a swim available from http://handbookofrobotics.org/view-chapter/23/videodetails/434

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Cho, KJ., Wood, R. (2016). Biomimetic Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_23

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_23

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