CLC number:
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 0000-00-00
Cited: 0
Clicked: 4360
Jin-rong WANG, Yong-xin XI, Chen JI, Jun ZOU. A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish[J]. Journal of Zhejiang University Science A, 2022, 23(1): 14-26.
@article{title="A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish",
author="Jin-rong WANG, Yong-xin XI, Chen JI, Jun ZOU",
journal="Journal of Zhejiang University Science A",
volume="23",
number="1",
pages="14-26",
year="2022",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A2100280"
}
%0 Journal Article
%T A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish
%A Jin-rong WANG
%A Yong-xin XI
%A Chen JI
%A Jun ZOU
%J Journal of Zhejiang University SCIENCE A
%V 23
%N 1
%P 14-26
%@ 1673-565X
%D 2022
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2100280
TY - JOUR
T1 - A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish
A1 - Jin-rong WANG
A1 - Yong-xin XI
A1 - Chen JI
A1 - Jun ZOU
J0 - Journal of Zhejiang University Science A
VL - 23
IS - 1
SP - 14
EP - 26
%@ 1673-565X
Y1 - 2022
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2100280
Abstract: Using a unique adhesive locomotion system, the rock-climbing fish (Beaufortia kweichowensis) adheres to submerged surfaces and crawls both forwards and backwards in torrential streams. To emulate this mechanism, we present a biomimetic robot inspired by the locomotion model of the rock-climbing fish. The prototype contains two anisotropic adhesive components with linkages connected to a linear actuator. Each anisotropic adhesive component consists of one commercial sucker and two retractable bioinspired fin components. The fin components mimic the abduction and adduction of pectoral and pelvic fins through the retractable part to move up and down. The robot prototype was tested on vertical and inverted surfaces, and worked successfully. These results demonstrate that this novel system represents a new locomotion solution for surface movement without detachment from the substrate.
[1]AsbeckAT, KimS, CutkoskyMR, et al., 2006. Scaling hard vertical surfaces with compliant microspine arrays. The International Journal of Robotics Research, 25(12):1165-1179.
[2]BlobRW, WrightKM, BeckerM, et al., 2007. Ontogenetic change in novel functions: waterfall climbing in adult Hawaiian gobiid fishes. Journal of Zoology, 273(2):200-209.
[3]BujardT, Giorgio-SerchiF, WeymouthGD, 2021. A resonant squid-inspired robot unlocks biological propulsive efficiency. Science Robotics, 6(50):eabd2971.
[4]CastilloJ, de la BlancaAP, CabreraJA, et al., 2006. An optical tire contact pressure test bench. Vehicle System Dynamics, 44(3):207-221.
[5]ChangE, MatloffLY, StowersAK, et al., 2020. Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics, 5(38):eaay1246.
[6]de CropW, PauwelsE, van HoorebekeL, et al., 2013. Functional morphology of the Andean climbing catfishes (Astroblepidae, siluriformes): alternative ways of respiration, adhesion, and locomotion using the mouth. Journal of Morphology, 274(10):1164-1179.
[7]DitscheP, WainwrightDK, SummersAP, 2014. Attachment to challenging substrates–fouling, roughness and limits of adhesion in the northern clingfish (Gobiesox maeandricus). Journal of Experimental Biology, 217(14):2548-2554.
[8]FlammangBE, SuvarnarakshaA, MarkiewiczJ, et al., 2016. Tetrapod-like pelvic girdle in a walking cavefish. Scientific Reports, 6:23711.
[9]HaynesGC, KhripinA, LynchG, et al., 2009. Rapid pole climbing with a quadrupedal robot. Proceedings of the IEEE International Conference on Robotics and Automation, p.2767-2772.
[10]IjspeertAJ, 2014. Biorobotics: using robots to emulate and investigate agile locomotion. Science, 346(6206):196-203.
[11]KawanoSM, BlobRW, 2013. Propulsive forces of mudskipper fins and salamander limbs during terrestrial locomotion: implications for the invasion of land. Integrative and Comparative Biology, 53(2):283-294.
[12]KimS, SpenkoM, TrujilloS, et al., 2008. Smooth vertical surface climbing with directional adhesion. IEEE Transactions on Robotics, 24(1):65-74.
[13]KingHM, ShubinNH, CoatesMI, et al., 2011. Behavioral evidence for the evolution of walking and bounding before terrestriality in sarcopterygian fishes. Proceedings of the National Academy of Sciences of the United States of America, 108(52):21146-21151.
[14]KwakMK, PangC, JeongHE, et al., 2011. Towards the next level of bioinspired dry adhesives: new designs and applications. Advanced Functional Materials, 21(19):3606-3616.
[15]PronkoAJ, PerlmanBM, Ashley-RossMA, 2013. Launches, squiggles and pounces, oh my! The water–land transition in mangrove rivulus (Kryptolebias marmoratus). Journal of Experimental Biology, 216(21):3988-3995.
[16]SchoenfussHL, BlobRW, 2003. Kinematics of waterfall climbing in Hawaiian freshwater fishes (Gobiidae): vertical propulsion at the aquatic–terrestrial interface. Journal of Zoology, 261(2):191-205.
[17]WangJR, JiC, WangW, et al., 2019. An adhesive locomotion model for the rock-climbing fish, Beaufortia kweichowensis. Scientific Reports, 9(1):16571.
[18]WicaksonoA, HidayatS, RetnoajiB, et al., 2018. A mechanical piston action may assist pelvic-pectoral fin antagonism in tree-climbing fish. Journal of the Marine Biological Association of the United Kingdom, 98(8):2121-2131.
[19]XuNW, DabiriJO, 2020. Low-power microelectronics embedded in live jellyfish enhance propulsion. Science Advance, 6(5):eaaz3194.
[20]ZouJ, WangJR, JiC, 2016. The adhesive system and anisotropic shear force of Guizhou gastromyzontidae. Scientific Reports, 6:37221.
Open peer comments: Debate/Discuss/Question/Opinion
<1>