Computationally Assisted Design and Selection of Maneuverable Biological Walking Machines
Computationally Assisted Design and Selection of Maneuverable Biological Walking Machines
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DOI：
10.1002/aisy.202000237
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发表时间：
2021-05-01
影响因子：
7.4
通讯作者：
Gazzola, Mattia
中科院分区：
文献类型：
--
作者：
Wang, Jiaojiao;Zhang, Xiaotian;Gazzola, Mattia
近年来，在生物机器中使用活体组件所带来的有趣机会刺激了各种肌肉动力生物混合机器人的发展。其中，几代组织工程生物混合步行机已被建立为研究无束缚运动的可靠平台。然而，尽管取得了这些进展，但这种技术还不成熟，仍然存在重大挑战。在此，采取步骤来解决其中两个：缺乏系统的设计方法，常见的生物混合机器人一般，在生物混合步行者的情况下，具体来说，缺乏机动性。提出了一种双环生物机器人，它是计算设计和选择表现出强大的向前运动和旋转转向。这种双环生物机器人由两个独立的肌肉驱动器和一个在前/后方向上不对称的四腿支架组成。在其身体结构中集成多个肌肉，结合差分电刺激，使机器人能够机动。双环机器人的设计，然后制造和实验测试，确认计算预测和转向能力。总的来说，基于建模，仿真和制造的设计方法在这个多功能机器人中举例说明了一种有效地设计具有自适应功能的复杂生物机器的方法。
The intriguing opportunities enabled by the use of living components in biological machines have spurred the development of a variety of muscle-powered biohybrid robots in recent years. Among them, several generations of tissue-engineered biohybrid walkers have been established as reliable platforms to study untethered locomotion. However, despite these advances, such technology is not mature yet, and major challenges remain. Herein, steps are taken to address two of them: the lack of systematic design approaches, common to biohybrid robotics in general, and in the case of biohybrid walkers specifically, the lack of maneuverability. A dual-ring biobot is presented which is computationally designed and selected to exhibit robust forward motion and rotational steering. This dual-ring biobot consists of two independent muscle actuators and a four-legged scaffold asymmetric in the fore/aft direction. The integration of multiple muscles within its body architecture, combined with differential electrical stimulation, allows the robot to maneuver. The dual-ring robot design is then fabricated and experimentally tested, confirming computational predictions and turning abilities. Overall, a design approach based on modeling, simulation, and fabrication exemplified in this versatile robot represents a route to efficiently engineer complex biological machines with adaptive functionalities.