Dear Editor,The innate preference behaviors of animals can be modified by external environmental conditions.In Drosophila for example,the preference for food and temperature are respectively influenced by the hardness...Dear Editor,The innate preference behaviors of animals can be modified by external environmental conditions.In Drosophila for example,the preference for food and temperature are respectively influenced by the hardness of food and environmental light conditions[1,2].Comparatively,environmental modulation of Drosophila light preference has received less investigation.Drosophila avoids light and prefers darkness in the larval stage[3,4].Drosophila larval photoreceptors,Bolwig's organs,and downstream neurons such as the 5th-lateral neurons[4,5]and the posterior ventral lateral-09 neurons[6],are required for the lightavoidance response.展开更多
Soft crawling robots have been widely studied and applied because of their excellent environmental adaptability and flexible movement.However,most existing soft crawling robots typically exhibit a single-motion mode a...Soft crawling robots have been widely studied and applied because of their excellent environmental adaptability and flexible movement.However,most existing soft crawling robots typically exhibit a single-motion mode and lack diverse capabilities.Inspired by Drosophila larvae,this paper proposes a compact soft crawling robot(weight,13 g;length,165 mm;diameter,35 mm)with multimodal locomotion(forward,turning,rolling,and twisting).Each robot module uses 4 sets of high-power-density shape memory alloy actuators,endowing it with 4 degrees of motion freedom.We analyze the mechanical characteristics of the robot modules through experiments and simulation analysis.The plug-and-play modules can be quickly assembled to meet different motion and task requirements.The soft crawling robot can be remotely operated with an external controller,showcasing multimodal motion on various material surfaces.In a narrow maze,the robot demonstrates agile movement and effective maneuvering around obstacles.In addition,leveraging the inherent bistable characteristics of the robot modules,we used the robot modules as anchoring units and installed a microcamera on the robot's head for pipeline detection.The robot completed the inspection in horizontal,vertical,curved,and branched pipelines,adjusted the camera view,and twisted a valve in the pipeline for the first time.Our research highlights the robot's superior locomotion and application capabilities,providing an innovative strategy for the development of lightweight,compact,and multifunctional soft crawling robots.展开更多
基金supported by Zhejiang Lab(2020KB0AC02)the National Natural Science Foundation of China(31070944,31271147,31471063,31671074,and 61572433)the Fundamental Research Funds for the Central Universities,China(2017FZA7003).
文摘Dear Editor,The innate preference behaviors of animals can be modified by external environmental conditions.In Drosophila for example,the preference for food and temperature are respectively influenced by the hardness of food and environmental light conditions[1,2].Comparatively,environmental modulation of Drosophila light preference has received less investigation.Drosophila avoids light and prefers darkness in the larval stage[3,4].Drosophila larval photoreceptors,Bolwig's organs,and downstream neurons such as the 5th-lateral neurons[4,5]and the posterior ventral lateral-09 neurons[6],are required for the lightavoidance response.
基金supported by the Zhejiang Provincial Natural Science Foundation of China(LD22E-050007)National Natural Science Foundation of China(T2293724 and 62303407)the Key R&D Program of Zhejiang(2022C01022).
文摘Soft crawling robots have been widely studied and applied because of their excellent environmental adaptability and flexible movement.However,most existing soft crawling robots typically exhibit a single-motion mode and lack diverse capabilities.Inspired by Drosophila larvae,this paper proposes a compact soft crawling robot(weight,13 g;length,165 mm;diameter,35 mm)with multimodal locomotion(forward,turning,rolling,and twisting).Each robot module uses 4 sets of high-power-density shape memory alloy actuators,endowing it with 4 degrees of motion freedom.We analyze the mechanical characteristics of the robot modules through experiments and simulation analysis.The plug-and-play modules can be quickly assembled to meet different motion and task requirements.The soft crawling robot can be remotely operated with an external controller,showcasing multimodal motion on various material surfaces.In a narrow maze,the robot demonstrates agile movement and effective maneuvering around obstacles.In addition,leveraging the inherent bistable characteristics of the robot modules,we used the robot modules as anchoring units and installed a microcamera on the robot's head for pipeline detection.The robot completed the inspection in horizontal,vertical,curved,and branched pipelines,adjusted the camera view,and twisted a valve in the pipeline for the first time.Our research highlights the robot's superior locomotion and application capabilities,providing an innovative strategy for the development of lightweight,compact,and multifunctional soft crawling robots.
