Biomedical Engineering Reference
In-Depth Information
CHAPTER
4
Bi
omimetic Roboti
cs
Ranjan Vepa
School of Engineering and Materials Science, Queen Mary, University of London,
London E1 4NS, United Kingdom
Prospectus
Some basic features of biomimetic robotics and the
technologies that are facilitating their development
are discussed in this chapter. The emergence of smart
materials and structures, smart sensors and actua-
tors capable of mimicking biological transducers,
bio-inspired signal-processing techniques, modeling
and control of manipulators resembling biological
limbs, and the shape control of flexible systems
are the primary areas in which recent technological
advances have taken place. Some key applications
of these technological developments in the design of
morphing airfoils, modeling and control of anthropo-
morphic manipulators and muscle activation mod-
eling, and control for human limb prosthetic and
orthotic applications are discussed. Also discussed,
with some typical examples, are the related develop-
ments in the application of nonlinear optimal control
and estimation, which are fundamental to the suc-
cess of biomimetic robotics.
4.1 INTRODUCTION TO
BIOMIMICRY
Biomimicry
refers to the process of mimicking
living plants and animals in the way in which
they solve problems or tackle tasks confronting
them. Thus, biomimicry aims to imitate biologi-
cal processes or systems.
Research into biomimetic robotics is cur-
rently being conducted in many research insti-
tutions worldwide with the aim of developing
a class of biomimetic robots that exhibit much
greater competence and robustness in perfor-
mance in unstructured environments than the
robots that are currently in use. Biomimetically
designed and empowered robots are expected
to be more compliant and stable than current
robots. Designers of such robots are taking
advantage of new developments in materials,
fabrication technologies, sensors, and actuators
to provide a wide range of capabilities that
allow these robots to mimic biological processes
and systems.
Biomimetic robots are particularly suited to
perform autonomous or semi-autonomous
tasks, such as reconnaissance and exploration
Keywords
Biomimetic robots, Electromyography, Electro-active
polymer, Electrorheological fluids, Kalman filter,
Magnetorheological fluids, Morphing, Nernst equa-
tion, Nonlinear optimal control, Orthotics, Prosthetics,
Shape control, Shape-memory alloys, Smart structures
