Spinal cord injury(SCI) often results in permanent dysfunction of locomotion,sensation,and autonomic regulation,imposing a substantial burden on both individuals and society(Anjum et al.,2020).SCI has a complex pathop...Spinal cord injury(SCI) often results in permanent dysfunction of locomotion,sensation,and autonomic regulation,imposing a substantial burden on both individuals and society(Anjum et al.,2020).SCI has a complex pathophysiology:an initial primary injury(mechanical trauma,axonal disruption,and hemorrhage) is followed by a progressive secondary injury cascade that involves ischemia,neuronal loss,and inflammation.Given the challenges in achieving regeneration of the injured spinal cord,neuroprotection has been at the forefront of clinical research.展开更多
Pipelines are extensively used in environments such as nuclear power plants,chemical factories,and medical devices to transport gases and liquids.These tubular environments often feature complex geometries,confined sp...Pipelines are extensively used in environments such as nuclear power plants,chemical factories,and medical devices to transport gases and liquids.These tubular environments often feature complex geometries,confined spaces,and millimeter-scale height restrictions,presenting significant challenges to conventional inspection methods.Here,we present an ultrasonic microrobot(weight,80 mg;dimensions,24 mm×7 mm;thickness,210μm)to realize agile and bidirectional navigation in narrow pipelines.The ultrathin structural design of the robot is achieved through a high-performance piezoelectric composite film microstructure based on MEMS technology.The robot exhibits various vibration modes when driven by ultrasonic frequency signals,its motion speed reaches81 cm s-1 at 54.8 k Hz,exceeding that of the fastest piezoelectric microrobots,and its forward and backward motion direction is controllable through frequency modulation,while the minimum driving voltage for initial movement can be as low as 3 VP-P.Additionally,the robot can effortlessly climb slopes up to 24.25°and carry loads more than 36 times its weight.The robot is capable of agile navigation through curved L-shaped pipes,pipes made of various materials(acrylic,stainless steel,and polyvinyl chloride),and even over water.To further demonstrate its inspection capabilities,a micro-endoscope camera is integrated into the robot,enabling real-time image capture inside glass pipes.展开更多
Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires senso...Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires sensorimotor transformations in several structures of the brain,including the parietal cortex,premotor cortex,and motor cortex.Sensory information and planning are transformed into motor commands,which are sent from the motor cortex to spinal neuronal circuits to alter limb trajectory,coordinate the limbs,and maintain balance.After spinal cord injury,bidirectional communication between the brain and spinal cord is disrupted and animals,including humans,fail to voluntarily modify limb trajectory to step over an obstacle.Therefore,in this review,we discuss the neuromechanical control of stepping over an obstacle,why it fails after spinal cord injury,and how it recovers to a certain extent.展开更多
A relatively well-preserved rodent fossil,including its incisors,cheek teeth,and postcranial skeleton,was collected from the Baiyin Obo in Siziwang Banner,Nei Mongol.A multifaceted research approach was undertaken in ...A relatively well-preserved rodent fossil,including its incisors,cheek teeth,and postcranial skeleton,was collected from the Baiyin Obo in Siziwang Banner,Nei Mongol.A multifaceted research approach was undertaken in this study to conduct a comprehensive analysis on the newly discovered specimen.Based on a morphological comparison,the new specimen was identified as Hulgana cf.H.ertnia within the Ischyromyidae family.Incisive enamel microstructure analysis revealed the typical pauciserial enamel structure of Hulgana.Bone histological analysis indicates that the specimen represents a juvenile individual,which is consistent with the ontogenetic stage indicated by dental developmental stage and wear pattern.The application of geometric morphometrics to the calcaneus and bone histology of the femur and phalanx further substantiates the taxonomic classification of Hulgana as a terrestrial and cursorial rodent,exhibiting a degree of fossorial ability.This classification is analogous to that of certain extant cricetids and ground squirrels.展开更多
Sex-specific neurons play pivotal roles in regulating sexually dimorphic behaviors.In insects,the sex determination gene doublesex(dsx)establishes major sexual dimorphism of the nervous system,in which male-specific d...Sex-specific neurons play pivotal roles in regulating sexually dimorphic behaviors.In insects,the sex determination gene doublesex(dsx)establishes major sexual dimorphism of the nervous system,in which male-specific dsx^(M)promotes neuronal development,while female-specific dsx^(F)inhibits neuronal development by promoting neuronal apoptosis.In this study,we find that dsx regulates the number of dsx-expressing central neurons in Drosophila in cell-specific manners.Although dsx^(M)overall promotes an increase in the number of dsx neurons,it inhibits the emergence of specific pC1 neurons.dsx^(F)reduces the number of different pC1/pC2 subtypes,but promotes the formation of pC1d.We also find that dsx^(M)and dsx^(F)barely affect the number of some pC2 neurons.Changes in the number of pC1/pC2 neurons alter their roles in regulating different behaviors,including courtship,aggression,and locomotion.Our results illustrate the multifaceted functions of dsx in sexually dimorphic neuronal development and behaviors.展开更多
Replacing the energy density and convenience of diesel fuel for all forms of fossil fuel-powered trains presents significant challenges.Unlike the traditional evolutions of rail which has largely self-optimised to dif...Replacing the energy density and convenience of diesel fuel for all forms of fossil fuel-powered trains presents significant challenges.Unlike the traditional evolutions of rail which has largely self-optimised to different fuels and cost structures over 150 years,the challenges now present with a timeline of just a few decades.Fortunately,unlike the mid-1800s,simulation and modelling tools are now quite advanced and a full range of scenarios of operations and train trips can be simulated before new traction systems are designed.Full trip simulations of large heavy haul trains or high speed passenger trains are routinely completed controlled by emulations of human drivers or automated control systems providing controls of the“virtual train”.Recent developments in digital twins can be used to develop flexible and dynamic models of passenger and freight rail systems to support the new complexities of decarbonisation efforts.Interactions between many different traction components and the train multibody system can be considered as a system of systems.Adopting this multi-modelling paradigm enables the secure and integrated interfacing of diverse models.This paper demonstrates the application of the multi-modelling approach to develop digital twins for rail decarbonisation traction and it presents physics-based multi-models that include key components required for studying rail decarbonisation problems.Specifically,the challenge of evaluating zero-emission options is addressed by adding further layers of modelling to the existing fully detailed multibody dynamics simulations.The additional layers detail control options,energy storage,the alternate traction system components and energy management systems.These traction system components may include both electrical system and inertia dynamics models to accurately represent the driveline and control systems.This paper presents case study examples of full trip scenarios of both long haul freight trains and higher speed passenger trains.These results demonstrate the many complex scenarios that are difficult to anticipate.Flowing on from this,risks can be assessed and practical designs of zero-emission systems can be proposed along with the required recharging or refuelling systems.展开更多
Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to s...Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.展开更多
Recently,wearable gait-assist robots have been evolving towards using soft materials designed for the elderly rather than individuals with disabilities,which emphasize modularization,simplification,and weight reductio...Recently,wearable gait-assist robots have been evolving towards using soft materials designed for the elderly rather than individuals with disabilities,which emphasize modularization,simplification,and weight reduction.Thus,synchronizing the robotic assistive force with that of the user’s leg movements is crucial for usability,which requires accurate recognition of the user’s gait intent.In this study,we propose a deep learning model capable of identifying not only gait mode and gait phase but also phase progression.Utilizing data from five inertial measurement units placed on the body,the proposed two-stage architecture incorporates a bidirectional long short-term memory-based model for robust classification of locomotion modes and phases.Subsequently,phase progression is estimated through 1D convolutional neural network-based regressors,each dedicated to a specific phase.The model was evaluated on a diverse dataset encompassing level walking,stair ascent and descent,and sit-to-stand activities from 10 healthy participants.The results demonstrate its ability to accurately classify locomotion phases and estimate phase progression.Accurate phase progression estimation is essential due to the age-related variability in gait phase durations,particularly evident in older adults,the primary demographic for gait-assist robots.These findings underscore the potential to enhance the assistance,comfort,and safety provided by gait-assist robots.展开更多
Hereditary spastic paraplegias(HSPs)refer to a genetically and clinically heterogeneous group of neurodegenerative disorders characterized by the degeneration of motor neurons.To date,a significant number of patients ...Hereditary spastic paraplegias(HSPs)refer to a genetically and clinically heterogeneous group of neurodegenerative disorders characterized by the degeneration of motor neurons.To date,a significant number of patients still have not received a definite genetic diagnosis.Therefore,identifying unreported causative genes continues to be of great importance.Here,we perform whole-exome sequencing in a cohort of Chinese HSP patients.Three homozygous variants(p.L604W,p.S517F,and p.T984A)within the sterol regulatory element-binding factor 2(SREBF2)gene are identified in one autosomal recessive family and two sporadic patients,respectively.Co-segregation is confirmed by Sanger sequencing in all available members.The three variants are rare in the public or in-house database and are predicted to be damaging.The biological impacts of variants in SREBF2 are examined by functional experiments in patient-derived fibroblasts and Drosophila.We find that the variants upregulate cellular cholesterol due to the overactivation of SREBP2,eventually impairing the autophagosomal and lysosomal functions.The overexpression of the mature form of SREBP2 leads to locomotion defects in Drosophila.Our findings identify SREBF2 as a causative gene for HSP and highlight the impairment of cholesterol as a critical pathway for HSP.展开更多
Sexual dimorphism in the brain underlies behavioral differences between sexes.The bed nucleus of the stria terminalis(BNST)is a complex nucleus that differs between males and females,but the sexual dimorphism in cytoa...Sexual dimorphism in the brain underlies behavioral differences between sexes.The bed nucleus of the stria terminalis(BNST)is a complex nucleus that differs between males and females,but the sexual dimorphism in cytoarchitecture and the connectome of its oval subdivision(ovBNST)remains largely unexplored.By combining snRNA-seq and transgenic labeling,we found a higher density of ovBNST proenkephalin(ovBNSTPENK)neurons in male than female mice.Anatomically,we virally mapped the efferents and afferents of ovBNSTPENK neurons,finding reciprocally dimorphic connections with the hypothalamus and striatum.Gene enrichment analysis suggests that ovBNSTPENK neurons are modulated by the upstream dopamine pathway.Functionally,by applying caspase-3-mediated depletion of ovBNSTPENK neurons,we found that loss of these neurons enhanced locomotor activity in male but not female mice,without altering the anxiety-like phenotypes in either sex.Our study may pave the way for a better understanding of the anatomical and functional profiles of ovBNSTPENK neurons from a sexually dimorphic perspective.展开更多
BACKGROUND Studies have shown that locomotive syndrome(LS)is significantly correlated with adverse outcomes,such as decreased self-care abilities,fractures,and increased mortality.Subthreshold depression(StD)is consid...BACKGROUND Studies have shown that locomotive syndrome(LS)is significantly correlated with adverse outcomes,such as decreased self-care abilities,fractures,and increased mortality.Subthreshold depression(StD)is considered an independent predictor of clinical depression,regarded as its prodromal stage,and even linked to increased mortality risk.Limited research has addressed the prevalence and relationship between LS and StD in elderly cancer patients.Understanding the prevalence of LS and StD among elderly cancer patients and elucidating their relationship will provide evidence to support the development of targeted interventions,thereby improving health outcomes in this population.AIM To investigate the relationship between musculoskeletal system function and predepressive states in elderly cancer patients.METHODS A convenience sampling method was employed to recruit 500 elderly cancer patients undergoing follow-up visits at the Department of Oncology,Affiliated Hospital of Jiangnan University,from April 2024 to December 2024.Participants completed the general information questionnaire, the 25-question Geriatric Locomotive Function Scale, and theGeriatric Depression Scale-Short Form-15. Influencing factors were analyzed, and correlation analyses wereperformed.RESULTSA total of 483 elderly cancer patients successfully completed the study. The prevalence of LS and StD amongparticipants was 56.5% and 38.7%, respectively. Logistic regression analysis identified age, tumor metastasis,exercise habits, and the presence of StD as significant risk factors for LS in elderly cancer patients. Additionally,having three or more chronic diseases and LS were significant predictors for developing StD. Spearman’s correlationanalysis revealed a significant positive correlation between LS and StD (r = 0.424, P < 0.001).CONCLUSIONElderly cancer patients exhibit a high prevalence of LS and StD, conditions which are positively correlated andmutually influential. Thus, it is critical to monitor and address pre-depressive states while evaluating and managingmotor function in this population.展开更多
Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater...Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater robots are widely employed in marine science,resource surveys,seabed geological investigations,and marine life observations,owing to their compact size,minimal noise,and agile move-ment.In recent years,researchers have developed diverse miniature underwater robots inspired by bion-ics and other disciplines,leading to many landmark achievements such as centimeter-level wireless control,movement speeds up to hundreds of millimeters per second,underwater three-dimensional motion capabilities,robot swarms,and underwater operation robots.This article offers an overview of the actuation methods and locomotion patterns utilized by miniature underwater robots and assesses the advantages and disadvantages of each method.Furthermore,the challenges confronting currently available miniature underwater robots are summarized,and future development trends are explored.展开更多
This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we e...This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we extend the Clock Torque Actuated Spring-Loaded Inverted Pendulum(CT-SLIP)template to three dimensions,creating a comprehensive control framework.A template-based control strategy is then developed to compute joint torques for stable locomotion,along with a detailed approach for transitioning between gaits.To enable the flight phase in the running trot,a projectile motion model is incorporated into the template.For improved turning,we implement a yaw control method that rotates the swing foot plane to enhance stability,enabling higher turning rates while maintaining steady forward motion and balance.To further enhance locomotion stability and performance,a Whole-Body Controller(WBC)is integrated.The proposed method is implemented and rigorously evaluated in the MuJoCo simulator,with experiments testing gait transitions and disturbance rejection.Additionally,comparative studies assess the impacts of both swing foot plane rotation and the WBC on overall system performance.Furthermore,the approach is validated through real hardware experiments on Unitree GO1 quadrupedal robot,successfully demonstrating smooth gait transitions,stable locomotion,and practical applicability in real-world scenarios.展开更多
Background:Trunk lean angle is an underrepre sented biomechanical variable for modulating and redistributing lower extremity joint loading and potentially reducing the risk of running-related overuse injuries.The purp...Background:Trunk lean angle is an underrepre sented biomechanical variable for modulating and redistributing lower extremity joint loading and potentially reducing the risk of running-related overuse injuries.The purpose of this study was to systematically alter the trunk lean angle in distance running using an auditory real-time feedback approach and to derive dose-response relationships between sagittal plane trunk lean angle and lower extremity(cumulative)joint loading to guide overuse load management in clinical practice.Methods:Thirty recreational runners(15 males and 15 females)ran at a constant speed of 2.5 m/s at 5 systematically varied trunk lean conditions on a force-instrumented treadmill while kinematic and kinetic data were captured.Results:A change in trunk lean angle from-2°(extension)to 28°(flexion)resulted in a systematic increase in stance phase angular impulse,cumulative impulse,and peak moment at the hip joint in the sagittal and transversal plane.In contrast,a systematic decrease in these parameters at the knee j oint in the sagittal plane and the hip joint in the frontal plane was found(p<0.001).Linear fitting revealed that with every degree of anterior trunk leaning,the cumulative hip joint extension loading increases by 3.26 Nm·s/kg/1000 m,while simultaneously decreasing knee joint extension loading by 1.08 Nm·s/kg/1000 m.Conclusion:Trunk leaning can reduce knee joint loading and hip joint abduction loading,at the cost of hip joint loading in the sagittal and transversal planes during distance running.Modulating lower extremity joint loading by altering trunk lean angle is an effective strategy to redistribute joint load between/within the knee and hip joints.When implementing anterior trunk leaning in clinical practice,the increased demands on the hip musculature,dynamic stability,and the potential trade-off with running economy should be considered.展开更多
Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, hold...Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, holds significant importance in the study of underwater motion mechanisms. In this study, we present theoretical fluid mechanics analysis and modeling of the three distinct motion stages of scallops, providing parameterized descriptions of scallop locomotion mechanisms. Accordingly, three-stage adaptive motion control for the scallop robot and model-based robot configuration optimization design were achieved. An experimental platform and a robot prototype were built to validate the accuracy of the motion model and the effectiveness of the control strategy. Additionally, based on the models, future optimization directions for the robot are proposed.展开更多
Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate repti...Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate reptiles,exhibit diverse and powerful locomotion abilities,including prey constriction,sidewinding,accordion locomotion,and winding climbing,making them a focus of robotics research.In this study,we present a snake-inspired soft robot with an initial coiling structure,fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology.The controllable fabrication of initial coiling structure soft robot(ICSBot)has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot,and programmable ICSBot has been designed and fabricated.This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation.Additionally,it demonstrates multi-modal crawling locomotion in various environments,including confined spaces,unstructured terrains,and both inside and outside tubes.These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.展开更多
The problem of disturbance rejection in humanoid robots has been properly studied,with most prior work focusing on hip-ankle-stepping compliance control strategies or whole-body inverse dynamics control.This paper pre...The problem of disturbance rejection in humanoid robots has been properly studied,with most prior work focusing on hip-ankle-stepping compliance control strategies or whole-body inverse dynamics control.This paper presents an adaptive disturbance rejection balance controller based on a Variable-inertia Centroidal Model Predictive Control(ViC-MPC)approach,designed to address both minor disturbances that affect standing balance and major disturbances requiring stepping adjustments.The controller also facilitates reliable balance recovery after stepping adjustments.The humanoid robot is modeled as a spatial variable-inertia ellipsoid,representing the distribution of centroidal dynamics,with the contact wrenches optimized in real-time through a customized MPC formulation.Inspired by capturability-based constraints,we propose an adaptive dynamic stability transition strategy.This strategy is activated based on the Retrospective Horizon Average Centroidal Velocity(RHACV)and the Capture Point(CP),ensuring effective stepping adjustments and disturbance rejection.With the torque-controlled humanoid robot BHR8P,extensive simulation and experimental results demonstrate the effectiveness of the proposed method,highlighting its capability to adapt to and recover from various disturbances with improved stability.展开更多
Soft robots capable of navigating complex environments hold promise for minimally invasive medical procedures and micromanipulation tasks.Here,we present a magnetically controlled multi-legged soft robot inspired by g...Soft robots capable of navigating complex environments hold promise for minimally invasive medical procedures and micromanipulation tasks.Here,we present a magnetically controlled multi-legged soft robot inspired by green sea turtle locomotion.Our designed robot,featuring six magnetized feet,demonstrates stable motion within a magnetic field strength range of 1.84–6.44 mT.Locomotion displacement scales linearly with field strength,while velocity correlates with frequency,reaching approximately 25 mm/s at 10 Hz.The robot navigates dry,semi-submerged,and fully submerged conditions,climbs slopes up to 30°,and maneuvers through U-shaped bends.Additionally,we demonstrate the robot's capability to smoothly transition between terrestrial and aquatic environments,demonstrating its amphibious locomotion performance.This adaptability to diverse environments,coupled with precise magnetic control,opens new possibilities for soft robotics in confined and complex spaces.Our findings provide a framework for designing highly maneuverable small-scale soft robots with potential applications ranging from targeted drug delivery to environmental sensing in challenging terrains.展开更多
Zebrafish are increasingly being utilized as a laboratory animal species to study various biological processes,both normal and pathological.It is crucial to comprehend the dynamics of zebrafish locomotion and put fort...Zebrafish are increasingly being utilized as a laboratory animal species to study various biological processes,both normal and pathological.It is crucial to comprehend the dynamics of zebrafish locomotion and put forth realistic models since their locomotion characteristics are employed as feedback indicators in diverse experiments.In this study,we conducted experimental research on the locomotion of zebrafish across various spatial sizes,focusing on the analysis of motion step size and motion direction.The results indicated that the motion step exhibits long-range correlations,the motion direction shows unbiased randomness,and the data characteristics are not influenced by spatial size.The dynamic mechanisms are complicated dynamical processes rather than fractional Brownian or Lévy processes motion.Based on the experimental results,we proposed a model for describing the movement of zebrafish in a circular container.Our findings shed light on the locomotion characteristics of zebrafish,and have the potential to benefit both the biological outcomes of animal tests and the welfare of the subjects.展开更多
Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mec...Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mechanism designed to equip legged robots with variable-width capabilities.Subsequently,a morphology-aware locomotion learning pipeline,based on reinforcement learning,is proposed for real-time trunk-width deformation and adaptive legged locomotion.The proposed variable-width trunk is integrated into a quadrupedal robot,and the learning pipeline is employed to train the adaptive locomotion controller of this robot.This study has three key contributions:(1)An overconstrained morphing mechanism is designed to achieve single-DoF trunk-width deformation,thereby minimizing power consumption and simplifying motion control.(2)A novel morphology-adaptive learning pipeline is introduced that utilizes adversarial joint-level motion imitation to ensure coordination consistency during morphological adaptation.This method addresses dynamic disturbances and interlimb coordination disruptions caused by width modifications.(3)A historical proprioception-based asymmetric neural network architecture is utilized to attain implicit terrain perception without visual input.Collectively,these developments enable the proposed variable-width legged robot to maintain consistent locomotion across complex terrains and facilitate rapid width deformation in response to environmental changes.Extensive simulation experiments validate the proposed design and control methodology.展开更多
文摘Spinal cord injury(SCI) often results in permanent dysfunction of locomotion,sensation,and autonomic regulation,imposing a substantial burden on both individuals and society(Anjum et al.,2020).SCI has a complex pathophysiology:an initial primary injury(mechanical trauma,axonal disruption,and hemorrhage) is followed by a progressive secondary injury cascade that involves ischemia,neuronal loss,and inflammation.Given the challenges in achieving regeneration of the injured spinal cord,neuroprotection has been at the forefront of clinical research.
基金supported by the National Key Research and Development Program of China(No.2024YFB3212901)National Natural Science Foundation of China(12072189)the Medicine and Engineering Interdisciplinary Research Fund of Shanghai Jiao Tong University(No.YG2025ZD05)。
文摘Pipelines are extensively used in environments such as nuclear power plants,chemical factories,and medical devices to transport gases and liquids.These tubular environments often feature complex geometries,confined spaces,and millimeter-scale height restrictions,presenting significant challenges to conventional inspection methods.Here,we present an ultrasonic microrobot(weight,80 mg;dimensions,24 mm×7 mm;thickness,210μm)to realize agile and bidirectional navigation in narrow pipelines.The ultrathin structural design of the robot is achieved through a high-performance piezoelectric composite film microstructure based on MEMS technology.The robot exhibits various vibration modes when driven by ultrasonic frequency signals,its motion speed reaches81 cm s-1 at 54.8 k Hz,exceeding that of the fastest piezoelectric microrobots,and its forward and backward motion direction is controllable through frequency modulation,while the minimum driving voltage for initial movement can be as low as 3 VP-P.Additionally,the robot can effortlessly climb slopes up to 24.25°and carry loads more than 36 times its weight.The robot is capable of agile navigation through curved L-shaped pipes,pipes made of various materials(acrylic,stainless steel,and polyvinyl chloride),and even over water.To further demonstrate its inspection capabilities,a micro-endoscope camera is integrated into the robot,enabling real-time image capture inside glass pipes.
文摘Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires sensorimotor transformations in several structures of the brain,including the parietal cortex,premotor cortex,and motor cortex.Sensory information and planning are transformed into motor commands,which are sent from the motor cortex to spinal neuronal circuits to alter limb trajectory,coordinate the limbs,and maintain balance.After spinal cord injury,bidirectional communication between the brain and spinal cord is disrupted and animals,including humans,fail to voluntarily modify limb trajectory to step over an obstacle.Therefore,in this review,we discuss the neuromechanical control of stepping over an obstacle,why it fails after spinal cord injury,and how it recovers to a certain extent.
文摘A relatively well-preserved rodent fossil,including its incisors,cheek teeth,and postcranial skeleton,was collected from the Baiyin Obo in Siziwang Banner,Nei Mongol.A multifaceted research approach was undertaken in this study to conduct a comprehensive analysis on the newly discovered specimen.Based on a morphological comparison,the new specimen was identified as Hulgana cf.H.ertnia within the Ischyromyidae family.Incisive enamel microstructure analysis revealed the typical pauciserial enamel structure of Hulgana.Bone histological analysis indicates that the specimen represents a juvenile individual,which is consistent with the ontogenetic stage indicated by dental developmental stage and wear pattern.The application of geometric morphometrics to the calcaneus and bone histology of the femur and phalanx further substantiates the taxonomic classification of Hulgana as a terrestrial and cursorial rodent,exhibiting a degree of fossorial ability.This classification is analogous to that of certain extant cricetids and ground squirrels.
基金supported by the National Key R&D Program of China(2021YFA1101300)the National Natural Science Foundation of China(32371067 to Y.P.)+1 种基金the Natural Science Foundation from Jiangsu Province(BK20231418 to Q.P.)the Fundamental Research Funds for the Central Universities(2242023R40054 to Q.P.).
文摘Sex-specific neurons play pivotal roles in regulating sexually dimorphic behaviors.In insects,the sex determination gene doublesex(dsx)establishes major sexual dimorphism of the nervous system,in which male-specific dsx^(M)promotes neuronal development,while female-specific dsx^(F)inhibits neuronal development by promoting neuronal apoptosis.In this study,we find that dsx regulates the number of dsx-expressing central neurons in Drosophila in cell-specific manners.Although dsx^(M)overall promotes an increase in the number of dsx neurons,it inhibits the emergence of specific pC1 neurons.dsx^(F)reduces the number of different pC1/pC2 subtypes,but promotes the formation of pC1d.We also find that dsx^(M)and dsx^(F)barely affect the number of some pC2 neurons.Changes in the number of pC1/pC2 neurons alter their roles in regulating different behaviors,including courtship,aggression,and locomotion.Our results illustrate the multifaceted functions of dsx in sexually dimorphic neuronal development and behaviors.
文摘Replacing the energy density and convenience of diesel fuel for all forms of fossil fuel-powered trains presents significant challenges.Unlike the traditional evolutions of rail which has largely self-optimised to different fuels and cost structures over 150 years,the challenges now present with a timeline of just a few decades.Fortunately,unlike the mid-1800s,simulation and modelling tools are now quite advanced and a full range of scenarios of operations and train trips can be simulated before new traction systems are designed.Full trip simulations of large heavy haul trains or high speed passenger trains are routinely completed controlled by emulations of human drivers or automated control systems providing controls of the“virtual train”.Recent developments in digital twins can be used to develop flexible and dynamic models of passenger and freight rail systems to support the new complexities of decarbonisation efforts.Interactions between many different traction components and the train multibody system can be considered as a system of systems.Adopting this multi-modelling paradigm enables the secure and integrated interfacing of diverse models.This paper demonstrates the application of the multi-modelling approach to develop digital twins for rail decarbonisation traction and it presents physics-based multi-models that include key components required for studying rail decarbonisation problems.Specifically,the challenge of evaluating zero-emission options is addressed by adding further layers of modelling to the existing fully detailed multibody dynamics simulations.The additional layers detail control options,energy storage,the alternate traction system components and energy management systems.These traction system components may include both electrical system and inertia dynamics models to accurately represent the driveline and control systems.This paper presents case study examples of full trip scenarios of both long haul freight trains and higher speed passenger trains.These results demonstrate the many complex scenarios that are difficult to anticipate.Flowing on from this,risks can be assessed and practical designs of zero-emission systems can be proposed along with the required recharging or refuelling systems.
基金supported by the National Key Research&Development Program of China(Grant No.2020YFB1313504)the State Key Laboratory of Mechanics and Control for Aerospace Structures of Nanjing University of Aeronautics and Astronautics.
文摘Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.
基金supported by a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute(KHIDI)funded by the Ministry of Health&Welfare,Republic of Korea(Grant Number:RS-2022-KH129263).
文摘Recently,wearable gait-assist robots have been evolving towards using soft materials designed for the elderly rather than individuals with disabilities,which emphasize modularization,simplification,and weight reduction.Thus,synchronizing the robotic assistive force with that of the user’s leg movements is crucial for usability,which requires accurate recognition of the user’s gait intent.In this study,we propose a deep learning model capable of identifying not only gait mode and gait phase but also phase progression.Utilizing data from five inertial measurement units placed on the body,the proposed two-stage architecture incorporates a bidirectional long short-term memory-based model for robust classification of locomotion modes and phases.Subsequently,phase progression is estimated through 1D convolutional neural network-based regressors,each dedicated to a specific phase.The model was evaluated on a diverse dataset encompassing level walking,stair ascent and descent,and sit-to-stand activities from 10 healthy participants.The results demonstrate its ability to accurately classify locomotion phases and estimate phase progression.Accurate phase progression estimation is essential due to the age-related variability in gait phase durations,particularly evident in older adults,the primary demographic for gait-assist robots.These findings underscore the potential to enhance the assistance,comfort,and safety provided by gait-assist robots.
基金supported by the grants from the National Natural Science Foundation of China to Zhi-Ying Wu(82230062,Beijing),Qiao Wei(82402156,Beijing),and Wanzhong Ge(31970668,Beijing)the research foundation for distinguished scholar of Zhejiang University(188020-193810101/089,Hangzhou)to Zhi-Ying Wu
文摘Hereditary spastic paraplegias(HSPs)refer to a genetically and clinically heterogeneous group of neurodegenerative disorders characterized by the degeneration of motor neurons.To date,a significant number of patients still have not received a definite genetic diagnosis.Therefore,identifying unreported causative genes continues to be of great importance.Here,we perform whole-exome sequencing in a cohort of Chinese HSP patients.Three homozygous variants(p.L604W,p.S517F,and p.T984A)within the sterol regulatory element-binding factor 2(SREBF2)gene are identified in one autosomal recessive family and two sporadic patients,respectively.Co-segregation is confirmed by Sanger sequencing in all available members.The three variants are rare in the public or in-house database and are predicted to be damaging.The biological impacts of variants in SREBF2 are examined by functional experiments in patient-derived fibroblasts and Drosophila.We find that the variants upregulate cellular cholesterol due to the overactivation of SREBP2,eventually impairing the autophagosomal and lysosomal functions.The overexpression of the mature form of SREBP2 leads to locomotion defects in Drosophila.Our findings identify SREBF2 as a causative gene for HSP and highlight the impairment of cholesterol as a critical pathway for HSP.
基金supported by research grants from the STI2030-Major Projects(2021ZD0203000 and 2021ZD0203002)the Major Project of the National Natural Science Foundation of China(82090033)+3 种基金the National Natural Science Foundation of China(32200825,32471074,and 32100792)the Shandong Provincial Natural Science Foundation(ZR2022QC173)the Shandong Provincial Taishan Scholars Project(tsqn202306174)the Shandong Province Major Basic Research Project(ZR2019ZD35).
文摘Sexual dimorphism in the brain underlies behavioral differences between sexes.The bed nucleus of the stria terminalis(BNST)is a complex nucleus that differs between males and females,but the sexual dimorphism in cytoarchitecture and the connectome of its oval subdivision(ovBNST)remains largely unexplored.By combining snRNA-seq and transgenic labeling,we found a higher density of ovBNST proenkephalin(ovBNSTPENK)neurons in male than female mice.Anatomically,we virally mapped the efferents and afferents of ovBNSTPENK neurons,finding reciprocally dimorphic connections with the hypothalamus and striatum.Gene enrichment analysis suggests that ovBNSTPENK neurons are modulated by the upstream dopamine pathway.Functionally,by applying caspase-3-mediated depletion of ovBNSTPENK neurons,we found that loss of these neurons enhanced locomotor activity in male but not female mice,without altering the anxiety-like phenotypes in either sex.Our study may pave the way for a better understanding of the anatomical and functional profiles of ovBNSTPENK neurons from a sexually dimorphic perspective.
基金Supported by Wuxi Institute of Translational Medicine Project Program,No.LCYJ202336the Scientific and Technological Achievements Promotion Project of Wuxi Municipal Health Commission Project Program,No.T202336+1 种基金the Hospital Management Innovation Research Project of Jiangsu Hospital Association,No.JSYGY-3-2024-601Jiangsu Provincial Traditional Chinese Medicine Science and Technology Development Plan Project,No.MS2024063.
文摘BACKGROUND Studies have shown that locomotive syndrome(LS)is significantly correlated with adverse outcomes,such as decreased self-care abilities,fractures,and increased mortality.Subthreshold depression(StD)is considered an independent predictor of clinical depression,regarded as its prodromal stage,and even linked to increased mortality risk.Limited research has addressed the prevalence and relationship between LS and StD in elderly cancer patients.Understanding the prevalence of LS and StD among elderly cancer patients and elucidating their relationship will provide evidence to support the development of targeted interventions,thereby improving health outcomes in this population.AIM To investigate the relationship between musculoskeletal system function and predepressive states in elderly cancer patients.METHODS A convenience sampling method was employed to recruit 500 elderly cancer patients undergoing follow-up visits at the Department of Oncology,Affiliated Hospital of Jiangnan University,from April 2024 to December 2024.Participants completed the general information questionnaire, the 25-question Geriatric Locomotive Function Scale, and theGeriatric Depression Scale-Short Form-15. Influencing factors were analyzed, and correlation analyses wereperformed.RESULTSA total of 483 elderly cancer patients successfully completed the study. The prevalence of LS and StD amongparticipants was 56.5% and 38.7%, respectively. Logistic regression analysis identified age, tumor metastasis,exercise habits, and the presence of StD as significant risk factors for LS in elderly cancer patients. Additionally,having three or more chronic diseases and LS were significant predictors for developing StD. Spearman’s correlationanalysis revealed a significant positive correlation between LS and StD (r = 0.424, P < 0.001).CONCLUSIONElderly cancer patients exhibit a high prevalence of LS and StD, conditions which are positively correlated andmutually influential. Thus, it is critical to monitor and address pre-depressive states while evaluating and managingmotor function in this population.
基金supported by the Natural Science Foundation of Jiangsu Province,China(BK20220813)the Fundamental Research Funds for the Central Universities(2242023K40014).
文摘Underwater robots have emerged as key tools for marine exploration because of their unique ability to traverse and navigate underwater regions,which pose challenges or dangers to human expeditions.Miniature underwater robots are widely employed in marine science,resource surveys,seabed geological investigations,and marine life observations,owing to their compact size,minimal noise,and agile move-ment.In recent years,researchers have developed diverse miniature underwater robots inspired by bion-ics and other disciplines,leading to many landmark achievements such as centimeter-level wireless control,movement speeds up to hundreds of millimeters per second,underwater three-dimensional motion capabilities,robot swarms,and underwater operation robots.This article offers an overview of the actuation methods and locomotion patterns utilized by miniature underwater robots and assesses the advantages and disadvantages of each method.Furthermore,the challenges confronting currently available miniature underwater robots are summarized,and future development trends are explored.
基金supported by The Scientific and Technological Research Council of Türkiye(TUBITAK)1515 Frontier R&D Laboratories Support Program for Turk Telekom neXt Generation Technologies Lab(XGeNTT)under Project No.5249902supported by the Scientific Research Projects Coordination Unit of Middle East Technical University(METU)under Project No.ADEP-301-2025-11613.
文摘This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we extend the Clock Torque Actuated Spring-Loaded Inverted Pendulum(CT-SLIP)template to three dimensions,creating a comprehensive control framework.A template-based control strategy is then developed to compute joint torques for stable locomotion,along with a detailed approach for transitioning between gaits.To enable the flight phase in the running trot,a projectile motion model is incorporated into the template.For improved turning,we implement a yaw control method that rotates the swing foot plane to enhance stability,enabling higher turning rates while maintaining steady forward motion and balance.To further enhance locomotion stability and performance,a Whole-Body Controller(WBC)is integrated.The proposed method is implemented and rigorously evaluated in the MuJoCo simulator,with experiments testing gait transitions and disturbance rejection.Additionally,comparative studies assess the impacts of both swing foot plane rotation and the WBC on overall system performance.Furthermore,the approach is validated through real hardware experiments on Unitree GO1 quadrupedal robot,successfully demonstrating smooth gait transitions,stable locomotion,and practical applicability in real-world scenarios.
文摘Background:Trunk lean angle is an underrepre sented biomechanical variable for modulating and redistributing lower extremity joint loading and potentially reducing the risk of running-related overuse injuries.The purpose of this study was to systematically alter the trunk lean angle in distance running using an auditory real-time feedback approach and to derive dose-response relationships between sagittal plane trunk lean angle and lower extremity(cumulative)joint loading to guide overuse load management in clinical practice.Methods:Thirty recreational runners(15 males and 15 females)ran at a constant speed of 2.5 m/s at 5 systematically varied trunk lean conditions on a force-instrumented treadmill while kinematic and kinetic data were captured.Results:A change in trunk lean angle from-2°(extension)to 28°(flexion)resulted in a systematic increase in stance phase angular impulse,cumulative impulse,and peak moment at the hip joint in the sagittal and transversal plane.In contrast,a systematic decrease in these parameters at the knee j oint in the sagittal plane and the hip joint in the frontal plane was found(p<0.001).Linear fitting revealed that with every degree of anterior trunk leaning,the cumulative hip joint extension loading increases by 3.26 Nm·s/kg/1000 m,while simultaneously decreasing knee joint extension loading by 1.08 Nm·s/kg/1000 m.Conclusion:Trunk leaning can reduce knee joint loading and hip joint abduction loading,at the cost of hip joint loading in the sagittal and transversal planes during distance running.Modulating lower extremity joint loading by altering trunk lean angle is an effective strategy to redistribute joint load between/within the knee and hip joints.When implementing anterior trunk leaning in clinical practice,the increased demands on the hip musculature,dynamic stability,and the potential trade-off with running economy should be considered.
基金supported by the Fundamental Research Funds for the Central Universities(No.30922010719).
文摘Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, holds significant importance in the study of underwater motion mechanisms. In this study, we present theoretical fluid mechanics analysis and modeling of the three distinct motion stages of scallops, providing parameterized descriptions of scallop locomotion mechanisms. Accordingly, three-stage adaptive motion control for the scallop robot and model-based robot configuration optimization design were achieved. An experimental platform and a robot prototype were built to validate the accuracy of the motion model and the effectiveness of the control strategy. Additionally, based on the models, future optimization directions for the robot are proposed.
基金supported by the National Key R&D Program of China(NO.2024YFB3409900)the China Postdoctoral Science Foundation(NO.2023M730845)the Heilongjiang Postdoctoral Fund(NO.LBH-Z23182)。
文摘Currently,numerous biomimetic robots inspired by natural biological systems have been developed.However,creating soft robots with versatile locomotion modes remains a significant challenge.Snakes,as invertebrate reptiles,exhibit diverse and powerful locomotion abilities,including prey constriction,sidewinding,accordion locomotion,and winding climbing,making them a focus of robotics research.In this study,we present a snake-inspired soft robot with an initial coiling structure,fabricated using MXene-cellulose nanofiber ink printed on pre-expanded polyethylene film through direct ink writing technology.The controllable fabrication of initial coiling structure soft robot(ICSBot)has been achieved through theoretical calculations and finite element analysis to predict and analyze the initial structure of ICSBot,and programmable ICSBot has been designed and fabricated.This robot functions as a coiling gripper capable of grasping objects with complex shapes under near infrared light stimulation.Additionally,it demonstrates multi-modal crawling locomotion in various environments,including confined spaces,unstructured terrains,and both inside and outside tubes.These results offer a novel strategy for designing and fabricating coiling-structured soft robots and highlight their potential applications in smart and multifunctional robotics.
基金supported in part by the National Natural Science Foundation of China under Grant 52575004the Beijing Natural Science Foundation under Grant L243004the National Natural Science Foundation of China under Grant 62403060.
文摘The problem of disturbance rejection in humanoid robots has been properly studied,with most prior work focusing on hip-ankle-stepping compliance control strategies or whole-body inverse dynamics control.This paper presents an adaptive disturbance rejection balance controller based on a Variable-inertia Centroidal Model Predictive Control(ViC-MPC)approach,designed to address both minor disturbances that affect standing balance and major disturbances requiring stepping adjustments.The controller also facilitates reliable balance recovery after stepping adjustments.The humanoid robot is modeled as a spatial variable-inertia ellipsoid,representing the distribution of centroidal dynamics,with the contact wrenches optimized in real-time through a customized MPC formulation.Inspired by capturability-based constraints,we propose an adaptive dynamic stability transition strategy.This strategy is activated based on the Retrospective Horizon Average Centroidal Velocity(RHACV)and the Capture Point(CP),ensuring effective stepping adjustments and disturbance rejection.With the torque-controlled humanoid robot BHR8P,extensive simulation and experimental results demonstrate the effectiveness of the proposed method,highlighting its capability to adapt to and recover from various disturbances with improved stability.
基金supported by Shenzhen Science and Technology Program(nos.JCYJ20210324132810026,GXWD20220811164014001 and KQTD20210811090146075)the National Natural Science Foundation of China(no.52375175)+3 种基金Guangdong Basic and Applied Basic Research Foundation(no.2024A1515240015)Jiangsu Provincial Outstanding Youth Program(no.BK20230072)Suzhou Industrial Foresight and Key Core Technology Project(no.SYC2022044)grants from Jiangsu QingLan Project and Jiangsu 333 high-level talents.
文摘Soft robots capable of navigating complex environments hold promise for minimally invasive medical procedures and micromanipulation tasks.Here,we present a magnetically controlled multi-legged soft robot inspired by green sea turtle locomotion.Our designed robot,featuring six magnetized feet,demonstrates stable motion within a magnetic field strength range of 1.84–6.44 mT.Locomotion displacement scales linearly with field strength,while velocity correlates with frequency,reaching approximately 25 mm/s at 10 Hz.The robot navigates dry,semi-submerged,and fully submerged conditions,climbs slopes up to 30°,and maneuvers through U-shaped bends.Additionally,we demonstrate the robot's capability to smoothly transition between terrestrial and aquatic environments,demonstrating its amphibious locomotion performance.This adaptability to diverse environments,coupled with precise magnetic control,opens new possibilities for soft robotics in confined and complex spaces.Our findings provide a framework for designing highly maneuverable small-scale soft robots with potential applications ranging from targeted drug delivery to environmental sensing in challenging terrains.
基金Project supported by the National Natural Science Foundation of China(Grant No.12205006)the Excellent Youth Scientific Research Project of Anhui Province,China(Grant No.2022AH030107)。
文摘Zebrafish are increasingly being utilized as a laboratory animal species to study various biological processes,both normal and pathological.It is crucial to comprehend the dynamics of zebrafish locomotion and put forth realistic models since their locomotion characteristics are employed as feedback indicators in diverse experiments.In this study,we conducted experimental research on the locomotion of zebrafish across various spatial sizes,focusing on the analysis of motion step size and motion direction.The results indicated that the motion step exhibits long-range correlations,the motion direction shows unbiased randomness,and the data characteristics are not influenced by spatial size.The dynamic mechanisms are complicated dynamical processes rather than fractional Brownian or Lévy processes motion.Based on the experimental results,we proposed a model for describing the movement of zebrafish in a circular container.Our findings shed light on the locomotion characteristics of zebrafish,and have the potential to benefit both the biological outcomes of animal tests and the welfare of the subjects.
基金Supported by State Key Lab of Mechanical System and Vibration Project of China(Grant No.MSVZD202008).
文摘Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mechanism designed to equip legged robots with variable-width capabilities.Subsequently,a morphology-aware locomotion learning pipeline,based on reinforcement learning,is proposed for real-time trunk-width deformation and adaptive legged locomotion.The proposed variable-width trunk is integrated into a quadrupedal robot,and the learning pipeline is employed to train the adaptive locomotion controller of this robot.This study has three key contributions:(1)An overconstrained morphing mechanism is designed to achieve single-DoF trunk-width deformation,thereby minimizing power consumption and simplifying motion control.(2)A novel morphology-adaptive learning pipeline is introduced that utilizes adversarial joint-level motion imitation to ensure coordination consistency during morphological adaptation.This method addresses dynamic disturbances and interlimb coordination disruptions caused by width modifications.(3)A historical proprioception-based asymmetric neural network architecture is utilized to attain implicit terrain perception without visual input.Collectively,these developments enable the proposed variable-width legged robot to maintain consistent locomotion across complex terrains and facilitate rapid width deformation in response to environmental changes.Extensive simulation experiments validate the proposed design and control methodology.
