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Abstract Background Postcopulatory mate choice occurs ubiquitously in the animal kingdom. However, it is usually a major challenge to visualise the process taking place in a body. This fact makes it difficult to understand the mechanisms of the process. By focusing on the shape of female sperm storage organs (spermathecae), we aimed to elucidate their functional morphology using six representative beetle species and to simulate sperm dynamics in artificial spermathecae with different structural features. Results Morphology and material gradients were studied using micro-computed tomography (μCT) and confocal laser scanning microscopy. This study shows a diversity of external and internal structures of the spermathecae among species. Despite the diversity, all species possess a common pumping region, which is composed of a sclerotised chamber, muscles and a resilin-enriched region. By focusing on the species Agelastica alni, whose spermatheca is relatively simple in shape with an internal protuberance, we simulated sperm dynamics by establishing a fabrication method to create enlarged, transparent, flexible and low-cost 3D models of biological structures based on μCT data. This experiment shows that the internal protuberance in the species functions as an efficient mixing device of stored sperm. Conclusions The observed spermathecal musculature implies that the sclerotised chamber of the spermatheca with muscles works as a pumping organ. Our fluid dynamics tests based on 3D printed spermathecae show that a tiny structural difference causes entirely different fluid dynamics in the spermatheca models. This result suggests that structural variations of the spermatheca strongly affect sperm dynamics. However, fluid dynamics tests still require essential measurements including sperm viscosity and the velocity of pumping cycles of the spermatheca.

Robot foot and gripper structures with compliancy using different mechanical solutions have been developed to enhance proper contact formations and gripping on various substrates. The Fin Ray structure is one of the solutions. Although the Fin Ray effect has been proposed and exploited, no detailed investigation has been conducted on the effect of different crossbeam angles inside its frame. Thus, herein, an integrative approach is used, combining 3D printing with soft material, finite element modeling, and neural control to 1) manufacture the Fin Ray structure with compliancy; 2) investigate the effect of different crossbeam angles under different loads and cylindrical substrates; and 3) finally apply it as an efficient compliant robot foot structure for energy‐efficient on‐pipe locomotion. Considering the factors of a large contact area, high energy efficiency, and better durability, the Fin Ray model with nonstandard 10°‐inclined crossbeams provides the best compromise in comparison with other models, within the constraints of the defined geometric parameters.

Durability and load-bearing are difficult to be combined in engineering systems. Hence, in majority of man-made structures, the two characteristics are typically mutually exclusive. Nature, however, has provided us with design strategies, through which many biological systems have overcome this conflict. Insect wings represent a striking example of such a combination. A key to this lies in the presence of vein joints. Here we 3D printed bio-inspired joints, akin to those of insect wings and tested their mechanical performance under both static and cyclic loadings. We used the so-called ‘flexible joints’, which had a high durability, and engineered them to further enhance their load-bearing capacity. We then implemented them into the design of the first 3D printed bio-inspired kite. The manufactured kite showed a stable flight and withstood loads induced by strong wind gusts without failure. The concept developed here can be applied to other engineering designs that pursue a compromise between load-bearing and durability. At the end, we used our data to better understand the complexities of insect wings with respect to their local and global deformations and fracture resistance.

The granular media friction pad (GMFP) inspired by the biological smooth attachment pads of cockroaches and grasshoppers employs passive jamming, to create high friction forces on a large variety of substrates. The granular medium inside the pad is encased by a flexible membrane which at contact formation greatly adapts to the substrate profile. Upon applying load, the granular medium undergoes the jamming transition and changes from fluid-like to solid-like properties. The jammed granular medium, in combination with the deformation of the encasing elastic membrane, results in high friction forces on a multitude of substrate topographies. Here we explore the effect of elasticity variation on the generation of friction by varying granular media filling quantity as well as membrane modulus and thickness. We systematically investigate contact area and robustness against substrate contamination, and we also determine friction coefficients for various loading forces and substrates. Depending on the substrate topography and loading forces, a low filling quantity and a thin, elastic membrane can be favorable, in order to generate the highest friction forces.

For maximizing friction forces of robotic legs on an unknown/unpredictable substrate, we introduced the granular media friction pad, consisting of a thin elastic membrane encasing loosely filled granular material. On coming into contact with a substrate, the fluid-like granular material flows around the substrate asperities and achieves large contact areas with the substrate. Upon applying load, the granular material undergoes the jamming transition, rigidifies and becomes solid-like. High friction forces are generated by mechanical interlocking on rough substrates, internal friction of the granular media and by the enhanced contact area caused by the deformation of the membrane. This system can adapt to a large variety of dry substrate topologies. To further increase its performance on moist or wet substrates, we adapted the granular media friction pad by structuring the outside of the membrane with a 3D hexagonal pattern. This results in a significant increase in friction under lubricated conditions, thus greatly increasing the universal applicability of the granular media friction pad for a multitude of environments.