How Multifunctioning Joints Produce Highly Agile Limbs in Animals with Lessons for Robotics.

This paper reviews how multifunctioning joints produce highly agile limbs in animals with lessons for robotics. One of the key reasons why animals are so fast and agile is that they have multifunctioning joints in their limbs. The multifunctioning joints lead to a high degree of compactness which then leads to a host of benefits such as low mass, low moment of inertia and low drag.

Development of a biologically inspired multi-modal wing model for aerial-aquatic robotic vehicles through empirical and numerical modelling of the common guillemot, Uria aalge.

The common guillemot, Uria aalge, a member of the auk family of seabirds, exhibits locomotive capabilities in both aerial and aquatic substrates. Simplistic forms of this ability have yet to be achieved by robotic vehicle designs and offer significant potential as inspiration for future concept designs. In this investigation, we initially investigate the power requirements of the guillemot associated with different modes of locomotion, empirically determining the saving associated with the retraction of the wing during aquatic operations.