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Jezus Lizard            Bio-Inspired Design                                  Wb2436-05                                    ...
OverviewEnvironment                    Locomotion              Resulting                                 Method           ...
Floating                           Crawling                        Few rolling creatures exist...                         ...
Floating                           Crawling                    Tumbleweed                           Passive rolling (wind)...
Floating                                 Crawling    WebToed Salamander                                                   ...
Floating                                 Crawling                                                      Mother-Of-Pearl Mot...
Floating                              Crawling                                                      • No backlash         ...
Floating                           Crawling                  Bacterial Motor                   (full rotation)      Rollin...
Floating                           CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
Floating                           Crawling            Jellyfish (kwal)                           Swimming or sinkingWb243...
Floating                                   Crawling                                                       Jelly (gelei), s...
Floating                           Crawling                                                             Shark             ...
Floating                           Crawling                   Dogfish (hondshaai):          avoid swimming by living on bo...
Floating                             Crawling                                                       “Parachute”           ...
Floating                           Crawling            Cornelis Drebbel, 1620: first submarine                           S...
Floating                           Crawling                           Swimming or sinkingWb2436-05, Paul Breedveld, Biopro...
Floating                           CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
Floating                               Crawling                                               Gas Chamber                 ...
Floating                               Crawling                                                      Gas chambers,        ...
Floating                           Crawling   Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropuls...
Floating                                   Crawling                                                      Foam: large amoun...
Floating                           Crawling   Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropuls...
Floating                           CrawlingUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropul...
Floating                           Crawling         Swimming bladder is compressible:         Pre: No collapse at very hig...
Floating                           Crawling                       Removal of gas                       Creation of gasUsin...
Floating                           Crawling Removal of gas: • Sphincter muscle (kringspier) opens, • Gas diffuses into blo...
Floating                           Crawling  Creation of gas:  • Gas gland (gasklier) creates gas in blood  • Gas accumula...
Floating                           CrawlingUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropul...
Floating                           Crawling                                      SubmarineWb2436-05, Paul Breedveld, Biopr...
Floating                           Crawling                                      SubmarineWb2436-05, Paul Breedveld, Biopr...
Floating                           CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
Floating                           Crawling         Longitudinal Wave (Earthworm, body)Wb2436-05, Paul Breedveld, Biopropu...
Floating                           Crawling               Longitudinal Wave (Snail, body)Wb2436-05, Paul Breedveld, Biopro...
Floating                           Crawling             Longitudinal Wave (Milipede, legs)Wb2436-05, Paul Breedveld, Biopr...
Floating                           Crawling                                 Milipede DeviceWb2436-05, Paul Breedveld, Biop...
Floating                           Crawling          Theo Jansen - www.strandbeest.comWb2436-05, Paul Breedveld, Biopropul...
Floating                           Crawling       A snake has 3 methods of locomotion..               Transversal Wave (Sn...
Floating                              Crawling                                           1. Gripping                      ...
Floating                           Crawling   2. Memorizing & shifting shape backwardWb2436-05, Paul Breedveld, Biopropuls...
Floating                              Crawling                                                      3. Idem + lifting     ...
Floating                                  Crawling  Snake bottom: direction-dependent friction   overlapping, swiveling pl...
Floating                           Crawling       Locomotion method 2 (in 2D) applied in            snake robot (Hirose, J...
Floating                           Crawling Wheels are passive, angles between segmentsare actuated and fed back to previo...
Floating                           CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
Floating                           CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
Floating                           Crawling       Locomotion method 2 (in 3D) applied in        swimming snake robot (Hiro...
Floating                           CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
Floating                           Crawling               Locomotion method 3 applied in                 snake robot (Hiro...
Floating                                 Crawling                                                      Locomotion method 3...
Floating                           Crawling              Locomotion (like snake in desert)Wb2436-05, Paul Breedveld, Biopr...
Floating                                Crawling                                                       Strong reduction of...
Floating                           Crawling          Twin-Spine     Shape Memory SystemWb2436-05, Paul Breedveld, Biopropu...
Floating                           Crawling      Two spines that can       be made rigid or           flexible      Rigid ...
Floating                           Crawling   1. Inflatable cable-ring      (Arjo Loeve)Wb2436-05, Paul Breedveld, Bioprop...
Floating                              Crawling                                                           compliant        ...
Floating                           Crawling                                                        rigidifiedWb2436-05, Pa...
Floating                           Crawling2. Deflatable particle tube   (Arjo Loeve)Wb2436-05, Paul Breedveld, Biopropuls...
Floating                           CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
Floating                           CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
Floating                     Crawling         By swiming           Longitudinal wave   By using gas chambers      Transver...
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Bio Inspired Design - Lecture6. Biomotion biopropulsion_macroscale_part2

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Transcript of "Bio Inspired Design - Lecture6. Biomotion biopropulsion_macroscale_part2"

  1. 1. Jezus Lizard Bio-Inspired Design Wb2436-05 Lecture 6 Biomotion – Biopropulsion (Macroscale) Paul BreedveldWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  2. 2. OverviewEnvironment Locomotion Resulting Method Technology Air Flying Floating Submarines Water Swimming Walking & Jumping Land Climbing & Swinging Shape Memory Crawling DevicesWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  3. 3. Floating Crawling Few rolling creatures exist... (Wilders, 2008) Rolling? (“Wentelteefje”, M. C. Esher)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  4. 4. Floating Crawling Tumbleweed Passive rolling (wind)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  5. 5. Floating Crawling WebToed Salamander Namib Wheeling Spider (Golden Wheel Spider) Partially active rolling (take off, hill)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  6. 6. Floating Crawling Mother-Of-Pearl Moth Active rolling (take off, horizontal)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  7. 7. Floating Crawling • No backlash • No friction • No lubrication Rolling anatomic elements (partial rotation)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  8. 8. Floating Crawling Bacterial Motor (full rotation) Rolling anatomic elements (full rotation)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  9. 9. Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  10. 10. Floating Crawling Jellyfish (kwal) Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  11. 11. Floating Crawling Jelly (gelei), slightly lighter than water (total Jellyfish slightly heavier than water) Jellyfish (kwal) Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  12. 12. Floating Crawling Shark Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  13. 13. Floating Crawling Dogfish (hondshaai): avoid swimming by living on bottom sea Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  14. 14. Floating Crawling “Parachute” slows down sinking speed “Roeipootkreeftje” Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  15. 15. Floating Crawling Cornelis Drebbel, 1620: first submarine Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  16. 16. Floating Crawling Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  17. 17. Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  18. 18. Floating Crawling Gas Chamber Jet Propulsion “Staatkwal” Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  19. 19. Floating Crawling Gas chambers, slight vacuum Nautilus Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  20. 20. Floating Crawling Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  21. 21. Floating Crawling Foam: large amount of very small air chambers Disadvantage of gas chambers: collapse at very high pressures Sepia (zeekat) Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  22. 22. Floating Crawling Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  23. 23. Floating CrawlingUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  24. 24. Floating Crawling Swimming bladder is compressible: Pre: No collapse at very high pressures Con: Amount of gas needs to be controlledNo gas control gives unstable system:> water pressure bladder smaller fish sinks more< water pressure bladder larger fish rises moreUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  25. 25. Floating Crawling Removal of gas Creation of gasUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  26. 26. Floating Crawling Removal of gas: • Sphincter muscle (kringspier) opens, • Gas diffuses into bloodUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  27. 27. Floating Crawling Creation of gas: • Gas gland (gasklier) creates gas in blood • Gas accumulates via diffusion in Rete Mirabile • (wondernet) till pressure > water pressure Rete Mirabile (wondernet): parallel arterial & venal hair vessels for maximum diffusionUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  28. 28. Floating CrawlingUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  29. 29. Floating Crawling SubmarineWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  30. 30. Floating Crawling SubmarineWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  31. 31. Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  32. 32. Floating Crawling Longitudinal Wave (Earthworm, body)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  33. 33. Floating Crawling Longitudinal Wave (Snail, body)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  34. 34. Floating Crawling Longitudinal Wave (Milipede, legs)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  35. 35. Floating Crawling Milipede DeviceWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  36. 36. Floating Crawling Theo Jansen - www.strandbeest.comWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  37. 37. Floating Crawling A snake has 3 methods of locomotion.. Transversal Wave (Snake, body)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  38. 38. Floating Crawling 1. Gripping & pullingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  39. 39. Floating Crawling 2. Memorizing & shifting shape backwardWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  40. 40. Floating Crawling 3. Idem + lifting parts of bodyWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  41. 41. Floating Crawling Snake bottom: direction-dependent friction overlapping, swiveling plates low friction high friction sharp borderlineWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  42. 42. Floating Crawling Locomotion method 2 (in 2D) applied in snake robot (Hirose, Japan)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  43. 43. Floating Crawling Wheels are passive, angles between segmentsare actuated and fed back to previous segmentsWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  44. 44. Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  45. 45. Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  46. 46. Floating Crawling Locomotion method 2 (in 3D) applied in swimming snake robot (Hirose, Japan)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  47. 47. Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  48. 48. Floating Crawling Locomotion method 3 applied in snake robot (Hirose, Japan)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  49. 49. Floating Crawling Locomotion method 3 applied in snake robot (Hirose, Japan) Passive wheels Actuated anglesWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  50. 50. Floating Crawling Locomotion (like snake in desert)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  51. 51. Floating Crawling Strong reduction of forces on intestinal wall when pushing colonoscope forward Too Complex!Locomotion method 2(in 3D) applied in Shape Memory ColonoscopeWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  52. 52. Floating Crawling Twin-Spine Shape Memory SystemWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  53. 53. Floating Crawling Two spines that can be made rigid or flexible Rigid spine is shape memory for flexible spine How to make a flexible/rigid spine?Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  54. 54. Floating Crawling 1. Inflatable cable-ring (Arjo Loeve)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  55. 55. Floating Crawling compliant 750 x 5.5mm shaftWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  56. 56. Floating Crawling rigidifiedWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  57. 57. Floating Crawling2. Deflatable particle tube (Arjo Loeve)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  58. 58. Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  59. 59. Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
  60. 60. Floating Crawling By swiming Longitudinal wave By using gas chambers Transversal waveBy using a swimming bladder Snake motion: 1. Gripping & Pulling 2. Memorizing & shifting shape backward (Twin Spine System) 3. Idem + lifting parts of body Direction dependent friction
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