Robotics researchers increasingly agree that ideas from biology and self-organization can strongly benefit the design of autonomous robots. Biological organisms have evolved to perform and survive in a world characterized by rapid changes, high uncertainty, indefinite richness, and limited availability of information. Industrial robots, in contrast, operate in highly controlled environments with no or very little uncertainty. Although many challenges remain, concepts from biologically inspired (bio-inspired) robotics will eventually enable researchers to engineer machines for the real world that possess at least some of the desirable properties of biological organisms, such as adaptivity, robustness, versatility, and agility.

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Self-Organization, Embodiment, and Biologically Inspired Robotics

Mechanical metamaterials exhibit properties and functionalities that cannot be realized in conventional materials. Originally, the field focused on achieving unusual (zero or negative) values for familiar mechanical parameters, such as density, Poisson's ratio or compressibility, but more recently, new classes of metamaterials — including shape-morphing, topological and nonlinear metamaterials — have emerged. These materials exhibit exotic functionalities, such as pattern and shape transformations in response to mechanical forces, unidirectional guiding of motion and waves, and reprogrammable stiffness or dissipation. In this Review, we identify the design principles leading to these properties and discuss, in particular, linear and mechanism-based metamaterials (such as origami-based and kirigami-based metamaterials), metamaterials harnessing instabilities and frustration, and topological metamaterials. We conclude by outlining future challenges for the design, creation and conceptualization of advanced mechanical metamaterials.

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Flexible mechanical metamaterials

A review of stimuli-responsive shape memory polymer composites

Complex three-dimensional (3D) structures in biology (e.g., cytoskeletal webs, neural circuits, and vasculature networks) form naturally to provide essential functions in even the most basic forms of life. Compelling opportunities exist for analogous 3D architectures in human-made devices, but design options are constrained by existing capabilities in materials growth and assembly. We report routes to previously inaccessible classes of 3D constructs in advanced materials, including device-grade silicon. The schemes involve geometric transformation of 2D micro/nanostructures into extended 3D layouts by compressive buckling. Demonstrations include experimental and theoretical studies of more than 40 representative geometries, from single and multiple helices, toroids, and conical spirals to structures that resemble spherical baskets, cuboid cages, starbursts, flowers, scaffolds, fences, and frameworks, each with single- and/or multiple-level configurations.

http://science.sciencemag.org/content/sci/347/6218/154.full.pdf

Assembly of micro/nanomaterials into complex, three-dimensional architectures by compressive buckling

The English-language dictionary defines wrinkles as "small furrows, ridges, or creases on a normally smooth surface, caused by crumpling, folding, or shrinking". In this paper we review the scientific aspects of wrinkling and the related phenomenon of buckling. Specifically, we discuss how and why wrinkles/buckles form in various materials. We also describe several examples from everyday life, which demonstrate that wrinkling or buckling is indeed a commonplace phenomenon that spans a multitude of length scales. We will emphasize that wrinkling is not always a frustrating feature (e.g., wrinkles in human skin), as it can help to assemble new structures, understand important physical phenomena, and even assist in characterizing chief material properties.

Soft matter with hard skin : From skin wrinkles to templating and material characterization

Mechanical instabilities in soft materials, specifically wrinkling, have led to the formation of unique surface patterns for a wide range of applications that are related to surface topography and its dynamic tuning. In this progress report, two distinct approaches for wrinkle formation, including mechanical stretching/releasing of oxide/PDMS bilayers and swelling of hydrogel films confined on a rigid substrate with a depth-wise modulus gradient, are discussed. The wrinkling mechanisms and transitions between different wrinkle patterns are studied. Strategies to control the wrinkle pattern order and characteristic wavelength are suggested, and some efforts in harnessing topographic tunability in elastomeric PDMS bilayer wrinkled films for various applications, including tunable adhesion, wetting, microfluidics, and microlens arrays, are highlighted. The report concludes with perspectives on the future directions in manipulation of pattern formation for complex structures, and potential new technological applications.

Harnessing Surface Wrinkle Patterns in Soft Matter

We report a new dry adhesive structure using a rippled poly(dimethylsiloxane) (PDMS) elastomer bilayer film, whose surface roughness and adhesion can be reversibly regulated by applying mechanical strain. It has a set of advantages not offered by other techniques for regulation of adhesion, including real-time tunability, no requirement of specific surface chemistry, operability under ambient conditions, and relative ease of control. To understand the mechanism for adhesion regulation quantitatively, we have modeled the mechanics of adhesion in the limits of small- and large-amplitude ripples, and show good agreement with indentation experiments. We demonstrate the real-time tunability of the new adhesive structure by repeatedly picking and releasing a glass ball simply by modulating the mechanical stretch of the rippled PDMS film.

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Mechanically tunable dry adhesive from wrinkled elastomers

The authors report the formation of various submicron wrinkle patterns and their transition from one-dimensional (1D) ripples to two-dimensional (2D) herringbone structures on poly(dimethylsiloxane) films. Using mechanical force they can separately control the amount and timing of strain applied to the substrate on both planar directions (either simultaneously or sequentially), which appears to be critical to maneuver the pattern formation in real time. They demonstrate reversible transitions from flat to 1D ripple, to ripple with bifurcation, to ripple/herringbone mixed features, and to well-controlled formation of a highly ordered zigzag-based 2D herringbone structures.

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Spontaneous formation of one-dimensional ripples in transit to highly ordered two-dimensional herringbone structures through sequential and unequal biaxial mechanical stretching

Terrestrial arthropods negotiate demanding terrain more effectively than any search-and-rescue robot. Slow, precise stepping using distributed neural feedback is one strategy for dealing with challenging terrain. Alternatively, arthropods could simplify control on demanding surfaces by rapid running that uses kinetic energy to bridge gaps between footholds. We demonstrate that this is achieved using distributed mechanical feedback, resulting from passive contacts along legs positioned by pre-programmed trajectories favorable to their attachment mechanisms. We used wire-mesh experimental surfaces to determine how a decrease in foothold probability affects speed and stability. Spiders and insects attained high running speeds on simulated terrain with 90% of the surface contact area removed. Cockroaches maintained high speeds even with their tarsi ablated, by generating horizontally oriented leg trajectories. Spiders with more vertically directed leg placement used leg spines, which resulted in more effective distributed contact by interlocking with asperities during leg extension, but collapsing during flexion, preventing entanglement. Ghost crabs, which naturally lack leg spines, showed increased mobility on wire mesh after the addition of artificial, collapsible spines. A bioinspired robot, RHex, was redesigned to maximize effective distributed leg contact, by changing leg orientation and adding directional spines. These changes improved RHex's agility on challenging surfaces without adding sensors or changing the control system.

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Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain

We report the fabrication of a new superhydrophobic surface with dual-scale roughness by coating silica nanoparticles on a poly(dimethylsiloxane) (PDMS) elastomer bilayer film with micro-scaled ripples. The wetting behavior of the surface can be reversibly tuned by applying a mechanical strain, which induces the change in micro-scale roughness determined by the ripples. The dual-scale roughness promotes the wetting transition of the final dual-structure surface from Wenzel region into the Cassie region, thus, reducing the sliding angle at least three times in comparison to that from the surfaces with single-scale roughness (either from the nanoparticle film or the wrinkled PDMS film). In addition, three-times and fast-response tunability of the sliding angle by applying mechanical strain on this dual-roughness surface is demonstrated.

Pei-Chun Lin

Papers

Harnessing Surface Wrinkle Patterns in Soft Matter

Mechanically tunable dry adhesive from wrinkled elastomers

Spontaneous formation of one-dimensional ripples in transit to highly ordered two-dimensional herringbone structures through sequential and unequal biaxial mechanical stretching

Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain

Mechanically switchable wetting on wrinkled elastomers with dual-scale roughness