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
This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal...This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal dimensions of each link,a Nash bargaining solution-based multi-objective optimization framework is developed,evaluating performance indicators such as reachable workspace,global manipulability,and acceleration capability.Inspired by the inchworm locomotion,three distinct climbing gaits are designed to enhance adaptability in confined and irregular spaces.To ensure safe and reliable operation,transition analysis is conducted and the operational workspace is systematically calculated.Moreover,a novel global path planning algorithm specially designed for the inchworm-like robot,termed inchworm-like robot rapidly-exploring random tree(ICHRRT*),is proposed.As an improved algorithm of RRT*,this method integrates gait planning and transition analysis to generate feasible and collision-free paths tailored to the robot’s unique structure and motion characteristics.A physical prototype is developed,and trusscrossing experiments are conducted in a truss environment.Experimental results validate the robot’s superior climbing capability and its effectiveness in navigating obstacles.展开更多
Slope climbing of urban expansion(SCE),as a form of urbanization,has increasingly significant impacts on urban development.Unsustainable slope climbing of urban expansion can harm the natural environment,thereby affec...Slope climbing of urban expansion(SCE),as a form of urbanization,has increasingly significant impacts on urban development.Unsustainable slope climbing of urban expansion can harm the natural environment,thereby affecting human production and living conditions.Using a coupled coordination model and the geographically weighted regression(GTWR)model,leveraging night light remote sensing data and ecological environment quality index model,this study investigated the coupling relationship between urban expansion and ecological environment quality and its influencing factors in the Yangtze River Economic Belt of China from 2000 to 2020.The results indicate that from 2000 to 2020,the intensity of urban slope climbing in the Yangtze River Economic Belt showed a fluctuating upward trend,with the slope climbing intensity being most significant in Chongqing Municipality and Kunming of Yunnan Province.Overall,the ecological environment quality exhibited an upward trend,with over 80%of the study area maintaining stable or improved ecological quality.There is a certain spatial correspondence between ecological environment quality and urban slope climbing.Although these two aspects of development demonstrate a high degree of coordination,fluctuations still occur during the development process.Further research on the coupling coordination relationship between the two revealed that population density has a negative impact on coupling coordination in the eastern region,and technology expenditure in eastern coastal cities has shown a negative trend over time.To ensure the continued increase in the proportion of highly coordinated areas in the future,eastern coastal cities in the study region could prioritize ecological civilization construction,strengthen urban construction and development planning,adjust influencing factors,and ensure the coordinated development of urban growth with ecological environment quality.展开更多
To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of...To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.展开更多
Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and p...Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during climbing.Inspired by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope angles.We evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope angles.Various robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft tip.The experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,respectively.Its payload capacity depends on the type of terrain and the inclination angle.Moreover,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a slope.This approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.展开更多
With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The...With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The purpose of this study was two-fold:(1) to evaluate climbing-specific fitness and establish percentile rankings among youth climbers;and (2) determine the relationship between fitness and climbing performance. Anthropometrics, fitness, and performance on three indoor bouldering problems ranging in difficulty from V0-V8 were assessed in 64 youth climbers (35 girls, 29 boys) aged 7-17 from the United States. Data are reported by age groups (7-11;12-17 y) and gender. Percentile rankings of fitness scores were computed for girls and boys separately. Analysis of variance was used to compare fitness by age groups and by gender. Regression analysis evaluated the association between climbing performance and fitness. Fitness scores were generally higher among boys than girls, and older vs. younger climbers. Multivariable linear regression revealed that, after adjusting for age, gender, and anthropometrics, fitness variables explained 49% of the variance in performance. Climbing-specific fitness measures previously established on adults are associated with bouldering performance in youth climbers, and therefore may be useful for monitoring progress in training.展开更多
The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as...The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s^-1.展开更多
Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments...Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.展开更多
This paper proposes a system for stable ladder climbing of the human-sized four-limbed robot“WAREC-1”,including the following 3 components:(a)Whole-body motion planning;(b)Rung recognition system and(c)Reaction forc...This paper proposes a system for stable ladder climbing of the human-sized four-limbed robot“WAREC-1”,including the following 3 components:(a)Whole-body motion planning;(b)Rung recognition system and(c)Reaction force adjustment.These 3 components guarantee appropriate ladder climbing motion,successful rung grub and proper reaction force distribution at contact points throughout the climbing motion,respectively.With this system,(1)Stable ladder climbing in 2-point contact gait by a human-sized robot and(2)Successful and stable climbing of an irregular ladder(with a higher or inclined rung)in both 3-point and 2-point contact gait with the capability of recognizing the target rung and the corresponding motion planning are realized,which have rarely been realized by former studies.Finally,experiment results and data of the robot ladder climbing are also presented to evaluate the proposed system.展开更多
Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed st...Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.展开更多
A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in t...A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in this condition the robot can stay on the wall reliably and move smartly. The fluid mechanics model and fluid network model are set up to analyze the robot suction system when the airflow is steady or changes suddenly. Furthermore, simulation results indicate the close relation between the key parameters of robot structure and the suction system. Finally the method of critical suction proves correct in theory.展开更多
The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some pr...The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity.展开更多
Tendril-bearing climbing plants must recur to the tendril helices with chiral perversion or dual chirality for climbing and to obtain sun exposure. Despite researchers' prolonged fascination with climbing tendrils...Tendril-bearing climbing plants must recur to the tendril helices with chiral perversion or dual chirality for climbing and to obtain sun exposure. Despite researchers' prolonged fascination with climbing tendrils since Darwin's time and even earlier, why the soft and slender tendrils can bear heavy loads such as the self-weight of a plant or additional load caused by rain remains elusive. In this paper, we take towel gourd tendrils as an example and investigate the macroscopic and microscopic mechanical behaviors of tendrils through experiments and simulations. Our study indicates that the tendril filament exhibits rubber-like hyperelastic behaviors and can particularly endure large elongation, which is mainly attributed to the superelasticity of the cellulose fibril helix contained in the cell wall. Combination of the tendril helical structure with dual chirality or chiral perversion at a macroscale and a cellulose filament helix at a subcellular level creates superior elasticity for biological species relying on support and climbing. This study provides deep insight into the structure-property relationship of climbing tendrils, and the relationship is useful for the bioinspired design of composite systems with superior elasticity.展开更多
Humans have long desired but never achieved the capacity to climb walls.The fundamental reason is that human hands and feet cannot climb vertical walls like geckos and bees.Animals lacking an adhesive structure can us...Humans have long desired but never achieved the capacity to climb walls.The fundamental reason is that human hands and feet cannot climb vertical walls like geckos and bees.Animals lacking an adhesive structure can use the body’s dynamic effect to climb walls.Here we investigated the dynamic wall climbing behavior of individuals who cannot remain stationary on the vertical wall.Taking the domestic cat as the experimental object,we constructed an experimental platform as the obstacle for the cat to climb the wall.Our research indicated that domestic cats must meet the following physical conditions to do dynamic vertical wall climbing:vertical obstacles must have nonvertical surfaces,a horizontal run-up,and contact with nonvertical surfaces before the vertical speed reduces to zero.Here we proposed a dynamic vertical wall climbing model with three contact states based on an investigation of domestic cats’dynamic wall climbing behavior and the LIP model.The motion range of the LIP model’s generalized angular coordinates varies depending on the contact state.The horizontal run-up action can improve the jumping height and obtain horizontal speed.When making contact with the vertical surface of the obstacle,the motion inertia in the horizontal direction can produce a reaction force on the contact surface,which can compensate for the influence of some gravity.This alternating contact strategy lets cats switch different initial and end contact angles.This investigation clarifies the essential process underlying animals’dynamic vertical wall climbing and establishes the theoretical foundation for the legged robot to do dynamic vertical wall climbing.展开更多
For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and saf...For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and safety monitoring system. In the paper, after investigating the indeterminate statics of an insect like six legged wall climbing mechanism in various support patterns, the authors obtained the analytical expressions of maximal weight moment with respect to different support patterns, and the overturn tendency while payload was increased. As a side product, the authors find an unusual phenomenon governing the relationship between the robot's AOC and the number of functioning suckers, which is explained theoretically by distributed mass spring statics model.展开更多
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 National Natural Science Foundation of China(Grant No.62303095)Fundamental Research Funds for the Central Universities(Grant No.2682025CX080).
文摘This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal dimensions of each link,a Nash bargaining solution-based multi-objective optimization framework is developed,evaluating performance indicators such as reachable workspace,global manipulability,and acceleration capability.Inspired by the inchworm locomotion,three distinct climbing gaits are designed to enhance adaptability in confined and irregular spaces.To ensure safe and reliable operation,transition analysis is conducted and the operational workspace is systematically calculated.Moreover,a novel global path planning algorithm specially designed for the inchworm-like robot,termed inchworm-like robot rapidly-exploring random tree(ICHRRT*),is proposed.As an improved algorithm of RRT*,this method integrates gait planning and transition analysis to generate feasible and collision-free paths tailored to the robot’s unique structure and motion characteristics.A physical prototype is developed,and trusscrossing experiments are conducted in a truss environment.Experimental results validate the robot’s superior climbing capability and its effectiveness in navigating obstacles.
基金Under the auspices of National Natural Science Foundation of China(No.42371191)Science and Technology Planning of NIGLAS(No.NIGLAS2022GS06,2022NIGLAS-CJH04)。
文摘Slope climbing of urban expansion(SCE),as a form of urbanization,has increasingly significant impacts on urban development.Unsustainable slope climbing of urban expansion can harm the natural environment,thereby affecting human production and living conditions.Using a coupled coordination model and the geographically weighted regression(GTWR)model,leveraging night light remote sensing data and ecological environment quality index model,this study investigated the coupling relationship between urban expansion and ecological environment quality and its influencing factors in the Yangtze River Economic Belt of China from 2000 to 2020.The results indicate that from 2000 to 2020,the intensity of urban slope climbing in the Yangtze River Economic Belt showed a fluctuating upward trend,with the slope climbing intensity being most significant in Chongqing Municipality and Kunming of Yunnan Province.Overall,the ecological environment quality exhibited an upward trend,with over 80%of the study area maintaining stable or improved ecological quality.There is a certain spatial correspondence between ecological environment quality and urban slope climbing.Although these two aspects of development demonstrate a high degree of coordination,fluctuations still occur during the development process.Further research on the coupling coordination relationship between the two revealed that population density has a negative impact on coupling coordination in the eastern region,and technology expenditure in eastern coastal cities has shown a negative trend over time.To ensure the continued increase in the proportion of highly coordinated areas in the future,eastern coastal cities in the study region could prioritize ecological civilization construction,strengthen urban construction and development planning,adjust influencing factors,and ensure the coordinated development of urban growth with ecological environment quality.
基金The National High Technology Research and Development Program of China (863Program) (No.2006AA04Z234)
文摘To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.
基金supported by the National Key R&D Program of China,Topic 4-NUAA(Grant No.2020 YFB1313504)to PM.
文摘Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during climbing.Inspired by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope angles.We evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope angles.Various robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft tip.The experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,respectively.Its payload capacity depends on the type of terrain and the inclination angle.Moreover,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a slope.This approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.
文摘With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The purpose of this study was two-fold:(1) to evaluate climbing-specific fitness and establish percentile rankings among youth climbers;and (2) determine the relationship between fitness and climbing performance. Anthropometrics, fitness, and performance on three indoor bouldering problems ranging in difficulty from V0-V8 were assessed in 64 youth climbers (35 girls, 29 boys) aged 7-17 from the United States. Data are reported by age groups (7-11;12-17 y) and gender. Percentile rankings of fitness scores were computed for girls and boys separately. Analysis of variance was used to compare fitness by age groups and by gender. Regression analysis evaluated the association between climbing performance and fitness. Fitness scores were generally higher among boys than girls, and older vs. younger climbers. Multivariable linear regression revealed that, after adjusting for age, gender, and anthropometrics, fitness variables explained 49% of the variance in performance. Climbing-specific fitness measures previously established on adults are associated with bouldering performance in youth climbers, and therefore may be useful for monitoring progress in training.
文摘The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s^-1.
文摘Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.
基金This research was funded by ImPACT TRC Program of Council for Science,Technology and Innovation(Cabinet Office,Government of Japan)This study was conducted with the support of Research Institute for Science and Engineering,Waseda University+3 种基金Future Robotics Organization,Waseda University,and as a part of the humanoid project at the Humanoid Robotics Institute,Waseda UniversityThis research was also partially supported by SolidWorks Japan K.KDYDEN Corporationand KITO Corporation whom we thank for their financial and technical support.
文摘This paper proposes a system for stable ladder climbing of the human-sized four-limbed robot“WAREC-1”,including the following 3 components:(a)Whole-body motion planning;(b)Rung recognition system and(c)Reaction force adjustment.These 3 components guarantee appropriate ladder climbing motion,successful rung grub and proper reaction force distribution at contact points throughout the climbing motion,respectively.With this system,(1)Stable ladder climbing in 2-point contact gait by a human-sized robot and(2)Successful and stable climbing of an irregular ladder(with a higher or inclined rung)in both 3-point and 2-point contact gait with the capability of recognizing the target rung and the corresponding motion planning are realized,which have rarely been realized by former studies.Finally,experiment results and data of the robot ladder climbing are also presented to evaluate the proposed system.
文摘Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.
基金Sponsored byt he Scientific Research Foundation for Returned Overseas Chinese Scholars ,State Education Ministry(20060232001)
文摘A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in this condition the robot can stay on the wall reliably and move smartly. The fluid mechanics model and fluid network model are set up to analyze the robot suction system when the airflow is steady or changes suddenly. Furthermore, simulation results indicate the close relation between the key parameters of robot structure and the suction system. Finally the method of critical suction proves correct in theory.
文摘The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity.
基金the National Natural Science Foundation of China (Grants 11872273, 11472191, 11602163, and 11672297)the Major Program of the National Science Foundation of China (Grant 11890683)+1 种基金the Opening Fund of State Key Laboratory of Nonlinear Mechanicsthe Australian Endeavour Research Fellowship.
文摘Tendril-bearing climbing plants must recur to the tendril helices with chiral perversion or dual chirality for climbing and to obtain sun exposure. Despite researchers' prolonged fascination with climbing tendrils since Darwin's time and even earlier, why the soft and slender tendrils can bear heavy loads such as the self-weight of a plant or additional load caused by rain remains elusive. In this paper, we take towel gourd tendrils as an example and investigate the macroscopic and microscopic mechanical behaviors of tendrils through experiments and simulations. Our study indicates that the tendril filament exhibits rubber-like hyperelastic behaviors and can particularly endure large elongation, which is mainly attributed to the superelasticity of the cellulose fibril helix contained in the cell wall. Combination of the tendril helical structure with dual chirality or chiral perversion at a macroscale and a cellulose filament helix at a subcellular level creates superior elasticity for biological species relying on support and climbing. This study provides deep insight into the structure-property relationship of climbing tendrils, and the relationship is useful for the bioinspired design of composite systems with superior elasticity.
基金supported by the National Key R&D Program of China(2021YFB3400200)the National Natural Science Foundation of China(grant 52075038)+2 种基金the Beijing Natural Science Foundation(grant 3212012)the Opening Project of State Key Laboratory of Tribology,Tsinghua University(SKLTKF20B06)the Beijing Institute of Technology Research Fund Program for Young Scholars.
文摘Humans have long desired but never achieved the capacity to climb walls.The fundamental reason is that human hands and feet cannot climb vertical walls like geckos and bees.Animals lacking an adhesive structure can use the body’s dynamic effect to climb walls.Here we investigated the dynamic wall climbing behavior of individuals who cannot remain stationary on the vertical wall.Taking the domestic cat as the experimental object,we constructed an experimental platform as the obstacle for the cat to climb the wall.Our research indicated that domestic cats must meet the following physical conditions to do dynamic vertical wall climbing:vertical obstacles must have nonvertical surfaces,a horizontal run-up,and contact with nonvertical surfaces before the vertical speed reduces to zero.Here we proposed a dynamic vertical wall climbing model with three contact states based on an investigation of domestic cats’dynamic wall climbing behavior and the LIP model.The motion range of the LIP model’s generalized angular coordinates varies depending on the contact state.The horizontal run-up action can improve the jumping height and obtain horizontal speed.When making contact with the vertical surface of the obstacle,the motion inertia in the horizontal direction can produce a reaction force on the contact surface,which can compensate for the influence of some gravity.This alternating contact strategy lets cats switch different initial and end contact angles.This investigation clarifies the essential process underlying animals’dynamic vertical wall climbing and establishes the theoretical foundation for the legged robot to do dynamic vertical wall climbing.
文摘For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and safety monitoring system. In the paper, after investigating the indeterminate statics of an insect like six legged wall climbing mechanism in various support patterns, the authors obtained the analytical expressions of maximal weight moment with respect to different support patterns, and the overturn tendency while payload was increased. As a side product, the authors find an unusual phenomenon governing the relationship between the robot's AOC and the number of functioning suckers, which is explained theoretically by distributed mass spring statics model.
