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Introduction
`When was the last time you used Velcro? Maybe you used it as an adhesive, or maybe when you were a small child you had yet to learn how to tie your shoes. Regardless, you have most likely used it in one way or another. Interestingly, this invention was not a product of the human mind alone. A Swiss engineer, George de Mestral, was walking with his dog one day in the mountains when he noticed how the seeds of a burdock plant adhered themselves to his sock. These seeds had hooks that fastened to the soft material of his sock. Thus, Velcro was born. As humans, we can refer to nature to help us answer our complex issues that we face, this is called biomimicry. In other words, human design imitating nature. Naturally, humans overcomplicate things that nature already has the answer to. In this report, the focus is placed on biomimicry for robot locomotion and how we can draw on ants in how they orient themselves as a natural example of how to navigate various types of terrain.
Major Research Question
In the article titled, “Hexabot: a small 3D-printed six-legged walking robot designed for desert ant-like navigation tasks”, the major question the researchers address is, what challenges and questions are associated with gait generation and leg control in hexapod (six-legged) walking robots, and how can these challenges be addressed for effective navigation in complex environments?
Background Information
In the past fifty years, six-legged walking robots, particularly Hexabot, have gained significant attention within the robotics community. Unlike wheeled robots, legged robots offer enhanced mobility and the ability to travel across uneven terrains without constraints. The locomotion mode of walking robots has become a well-explored solution for navigation challenges over varied terrains. Hexabot, is a 3D-printed, low-cost, and lightweight six-legged walking robot developed at LaBRI, serves as an open-source project. In this, the article highlights Hexabot's superior stability and orientation when walking on smooth, flat terrain. In this study, they analyzed the way in which hexapods, such as ants, move, including roll: the rotation around the front-to- back axis, pitch: rotation around the side-to-side axis, and yaw: rotation around the vertical axis. Notably, Hexabot's performance aligns closely with that of desert ants. The study concludes by outlining the visual cues required for achieving desert ant-like navigation tasks. The research questions presented are important for the future development of hexapod walking robots, as well as understanding the biomechanics of insects or other hexapod organisms. Addressing the challenges in gait generation and leg control not only contributes to the field of robotics but also provides insights into the biomechanics of natural hexapod locomotion. This approach may lead to more innovative solutions and a deeper understanding of robotics and biology.
What is a desert ant?
The Hexabot and other similar hexapoda biomimicry robots have been constructed to mimic that of a desert ant. The most well-known species of desert ant would be the Sahara desert ant who reside, you guessed it, in the Sahara Desert. Not only are they one of the world’s fastest ants, but they can withstand temperatures up to 140 degrees Fahrenheit and their long legs help keep them above the sandy terrain.These ants have been at the forefront for 6-legged robotic biomimicry due to their unique foraging abilities in which they can travel up to 400 feet, then turn their bodies 180 degrees and consistently find their way back home.
Significance of Biomimicry for Locomotion
While the words surrounding this research may seem scary and like they require extensive knowledge of robotics to understand, the main ideas are quite simple when broken down, and interesting! Biomimicry in itself has led to numerous advances in robotics, specifically in the field of locomotion over the past two decades. This is so exciting as increasing innovation within biomimicry can lead to more stable performance of a robot when navigating unknown terrain and obstacles. In the bigger picture, biomimicry isn’t exclusive to just those interested in robotics, but can help make big strides in biology and environmental science studies. Through the use of the Hexabot carrying out homing and foraging techniques, researchers can get perspective of certain environmental situations that weren’t possible prior to biomimicry in locomotion.
Methods
Let's take a deeper look into the methods used when deciphering which mechanics worked well in regards to navigation and tripod gait. The first step in this study was to conduct geometric analysis in order to compare Hexabot and PhantomX (another six-legged robot) stability over flat terrain, and how the shape of a robot affects its locomotion. They also compared desert ant characteristics (speed and size) to the construction and movement of the robots. The geometric analysis displayed that the Hexabot was 10x the size of a desert ant (around 10cm) and the Phantom X being 20x larger (20 cm), in comparison to the itty bitty 10mm desert ant. Then they compared walking tests (diagram of method below) to test the roll, pitch, and yaw of the robots at three different speeds, in relation to that of an ant.
[1] Methods diagram by Breana Harrington
Results
Before discussing results, it's important to note that robots operate on a tripod gait resulting in the yaw degrees being significantly higher than the robot’s roll and pitch. In terms of speed tests at speeds 50, 75, and 100% each robot had an advantage in respective areas. PhantomX produced roll and pitch similar to the ants and was able to hold this advantage with higher speeds and mimicked ants behavior closely. In comparison, Hexabot produced ant-like roll and pitch better when at walking speeds due to its lower weight and size. Robots with a hexagonal shape (similar to the Hexabot) displayed better overall performance in stability and body orientation. Obviously though for both robots a 6-legged approach with a tripod gait provides better performance in key tasks compared with a 4-legged model because tripod gait aids in foraging techniques and navigating terrain. The Hexabot was concluded to be a more reliable candidate for ant-like navigation over PhantomX due to its small size and custom sensory mechanisms to complete navigation tasks such as foraging and homing.
Implications
What does this mean for the future of biomimicry in robots and locomotion? Only the future will tell as technology advances every day. However, Hexabot is on the forefront of this technology and opening up doors for similar engineering efforts of biomimicry in robots. By discovering the abilities of a 6-legged robot and a hexagonal shape being perfect for mimicking the mechanics of hexapod insects on different types of terrain, the opportunities seem limitless. Only time will tell but this does provide expansive arenas for the future of robotics and new ways in which they can be used when mimicking the biological and evolutionary traits of insects.
Conclusion
In conclusion, there is much to learn from the natural world that we can apply in our rapidly modernizing world. The insights that the world of ants has to offer has led to impressive innovations in the fields of both biology and robotics.
Further Reading
Dupeyroux, Julien, et al. "Hexabot: a small 3D-printed six-legged walking robot designed for desert ant-like navigation tasks.” IFAC World Congress 2017. 2017. https://amu.hal.science/hal-01643176/document
Dupeyroux, Julien, Julien R. Serres, and Stéphane Viollet. "AntBot: A six-legged walking robot able to home like desert ants in outdoor environments.” Science Robotics 4.27 (2009): eaau0307. https://www.science.org/doi/10.1126/scirobotics.aau0307
Media Credits
[1] Photo by Katya. License: CC BY-SA 2.0
[2] Methods Illustration by Breana Harrington, based on information in Dupeyroux, Julien, et al. "Hexabot: a small 3D-printed six-legged walking robot designed for desert ant-like navigation tasks." IFAC World Congress 2017. 2017.