Micro CT study of soft/elastic structures of beetle toward insect-inspired robotics

摘要

We propose a new framework for making insect-inspired robots using micro-focus X-ray computed tomography (micro CT). Micro CT system used in this study is originally for non-invasive inspection for industrial and medical applications, not for robotics. The CT data provides three-dimensional information of the complex structure of animal body in micrometer resolution. We shoot CT images of rhinoceros beetles (Trypoxy-lus dichotomus) to reveal its musculoskeletal system, flapping mechanism, wing veins, and multi-segment limbs. The cross sectional images enables to identify the flight muscles and joint mechanism. Moreover, three-dimensional reconstruction of CT data allows replicating insect body with additive manufacturing technique. We used multi-material 3D printer for printing a wing vein and a shell from the volumetric data. The results shows that the 3D printed artificial shell can reproduce the linkage mechanism of flapping motion. Micro CT studies of insects enhance a further understanding of biological systems and development of bio-inspired robots.