The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on th...The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.展开更多
Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation...Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been explored.In order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile robot.The locus error of a robot body is measured,when robot moves along a given track.Error of driven joint variables is obtained by error calculation model in terms of the locus error of robot body.Error value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model modified.The model of the relation between robot＇s locus errors and kinematic variables errors is set up to achieve the kinematic error compensation.On the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is discussed.Moreover,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot＇s locus.Take MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is studied.The actual locus errors of the robot body are measured before and after compensation in the test.According to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one time.The kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward.展开更多
In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was estab...In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.In the simulation experiments,adaptive regulation of inter-leg phase sequence,omnidirectional locomotion and ground accommodation were realized.Moreover,statically stable free gait was obtained simultaneously,which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.展开更多
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Targ...In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Target search in complex water environments has always been a major challenge in the field of underwater robots.To address this problem,this paper proposes a multi-biomimetic robot fish collaborative target search method based on Distributed Model Predictive Control(DMPC).First,we established a bionic robot fish kinematic model and a multi-biomimetic robot fish communication model;second,this paper proposed a distributed model predictive control algorithm based on the distributed search theory framework,so that the bionic robot fish can dynamically adjust their search path according to each other’s position information and search status,avoid repeated coverage or missing areas,and thus improve the search efficiency;third,we conducted simulation experiments based on DMPC,and the results showed that the proposed method has a target search success rate of more than 90%in static targets,dynamic targets,and obstacle environments.Finally,we compared this method with Centralized Model Predictive Control(CMPC)and Random Walk(RW)algorithms.The DMPC approach demonstrates significant advantages,achieving a remarkable target search success rate of 94.17%.These findings comprehensively validate the effectiveness and superiority of the proposed methodology.It can be seen that DMPC can effectively dispatch multiple bionic robot fish to work together to achieve efficient search of vast waters.It can significantly improve the flexibility,scalability,robustness and cooperation efficiency of the system and has broad application prospects.展开更多
In this paper,inspired by the running motion gait of a cheetah,an H-shaped bionic piezoelectric robot(H-BPR)based on the standing wave principle is proposed and designed.The piezoelectric robot realizes linear motion,...In this paper,inspired by the running motion gait of a cheetah,an H-shaped bionic piezoelectric robot(H-BPR)based on the standing wave principle is proposed and designed.The piezoelectric robot realizes linear motion,turning motion,and turning motion with different radi by the voltage differential driving method.A prototype with a weight of 38 g and dimensions of 150×80×31 mm^(3) was fabricated.Firstly,the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot leg.The motion principle of the piezo-electric robot was analyzed,and then the piezoelectric robot's modal analysis and harmonic response analysis were carried out using finite element analysis software.Finally,an experimental setup was built to verify the effectiveness and high efficiency of the robot's motion,and the effects of frequency,voltage,load,and height of the driving leg on the robot's motion performance were discussed.The performance test results show that the piezoelectric robot has a maximum veloc-ity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 g.In addition,the H-BPR with unequal drive legs has better climbing performance,and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.展开更多
Wall-climbing robots can stably ascend vertical walls and even ceilings,making them suitable for specialized tasks in high-risk,confined,and harsh conditions.Therefore,they have excellent application prospects and sub...Wall-climbing robots can stably ascend vertical walls and even ceilings,making them suitable for specialized tasks in high-risk,confined,and harsh conditions.Therefore,they have excellent application prospects and substantial market demand.However,several challenges remain,including limited load-carrying capacity,short operational duration,a high risk of detachment,and the lack of standardized physical and control interfaces for carrying auxiliary equipment to complete missions.This study analyzes the macro and micro structures and movement mechanisms of typical organisms in terms of negative pressure adsorption,hook-and-claw adhesion,dry adhesion,and wet adhesion.The exploration of biological wall-climbing mechanisms is integrated with the adhesion techniques used in practical wall-climbing robots.Additionally,the mechanisms,properties,and typical wall-climbing robots associated with adhesion technologies were investigated,including negative pressure adsorption,hook-and-claw adhesion,bionic dry adhesion,bionic wet adhesion,electrostatic adhesion,and magnetic adhesion.Furthermore,the typical gaits of quadruped and hexapod robots are analyzed,and bionic control techniques such as central pattern generators,neural networks,and compliant control are applied.Finally,the future development trends of wall-climbing robots will be examined from multiple perspectives,including the diversification of bionic mechanisms,the advancement of mechanical structure intelligence,and the implementation of intelligent adaptive control.Moreover,this paper establishes a solid foundation for the innovative design of bionic wall-climbing robots and provides valuable guidance for future advancements.展开更多
The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depcnds on the mechanical properties of the body mechanism, It is difficult for quadruped robot with rigid s...The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depcnds on the mechanical properties of the body mechanism, It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles（PAMs）. This kind of body imitates the four-legged creatures＇ kinematical structure and physical properties, which has the characteristic of changeable stiff＇hess, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving tbrce of PAM is determined. The experiment of body bending is conductcd, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.展开更多
A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed, and its kinematic characteris- tics were analyzed. A series of experiments were conducted to observe locust morphology and jumpi...A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed, and its kinematic characteris- tics were analyzed. A series of experiments were conducted to observe locust morphology and jumping process. According to classic mechanics, the jumping process analysis was conducted to build the relationship of the locust jumping parameters. The take-offphase was divided into four stages in detail. Based on the biological observation and kinematics analysis, a mechanical model was proposed to simulate locust jumping. The forces of the flexible-rigid hopping mechanism at each stage were ana- lyzed. The kinematic analysis using pseudo-rigid-body model was described by D-H method. It is confirmed that the proposed bionic mechanism has the similar performance as the locust hind leg in hopping. Moreover, the jumping angle which decides the jumping process was discussed, and its relation with other parameters was established. A calculation case analysis corroborated the method. The results of this paper show that the proposed bionic mechanism which is inspired by the locust hind limb has an excellent kinematics performance, which can provide a foundation for design and motion planning of the hopping robot.展开更多
In this paper,a bionic mantis shrimp amphibious soft robot based on a dielectric elastomer is proposed to realize highly adaptive underwater multimodal motion.Under the action of an independent actuator,it is not only...In this paper,a bionic mantis shrimp amphibious soft robot based on a dielectric elastomer is proposed to realize highly adaptive underwater multimodal motion.Under the action of an independent actuator,it is not only able to complete forward/backwards motion on land but also has the ability of cyclically controllable transition motion from land to water surface,from water surface to water bottom and from water bottom to land.The fastest speed of the soft robot on land is 170 mm/s,and it can crawl while carrying up to 4.6 times its own weight.The maximum speeds on the water surface and the water bottom are 30 mm/s and 14.4 mm/s,respectively.Furthermore,the soft robot can climb from the water bottom with a 9°slope transition to land.Compared with other similar soft robots,this soft robot has outstanding advantages,such as agile speed,large load-carrying capacity,strong body flexibility,multiple motion modes and strong underwater adaptability.Finally,nonlinear motion models of land crawling and water swimming are proposed to improve the environmental adaptability under multiple modalities,and the correctness of the theoretical model is verified by experiments.展开更多
This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspa...This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspace of the single leg mechanism in the quadruped robot were established.A single leg complex dynamic model of the quadruped robot is derived,considering the mass and inertial force of all the components in the mechanical leg.Combined with the human jumping law in situ,the jumping trajectory of the single leg was planned.To reduce landing impact,a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action.The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied,and the influencing factors of jump height were analyzed to realize the height control of the jump.Single leg jumping dynamics model was established,and a dynamic control strategy for trajectory tracking with foot force compensation was proposed.In Adams and MATLAB/Simulink software,the jump simulation of single leg mechanism was carried out.The prototype of quadruped robot was developed,and the jumping experiment of the single leg mechanism was tested.The robot's single leg bionic jumping and soft landing control are realized.展开更多
Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped robots.Among various quadruped robots,hydraulically driven quadr...Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped robots.Among various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large payloads.As the most critical movement unit of a quadruped robot,the limb leg unit(LLU)directly affects movement speed and reliability,and requires a compact and lightweight design.Inspired by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an LLU.We propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston rod.In addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the LLU.The mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah muscle.The mass of the optimized LLU is reduced by 24.5%,and the optimized LLU shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.展开更多
Biological water striders have advantages such as flexible movement,low disturbance to the water surface,and low noise.Researchers have developed a large number of biomimetic water strider robots based on their moveme...Biological water striders have advantages such as flexible movement,low disturbance to the water surface,and low noise.Researchers have developed a large number of biomimetic water strider robots based on their movement mechanism,which have broad application prospects in water quality testing,water surface reconnaissance,and search.This article mainly reviews the research progress of biomimetic water strider robots.First,the biological and kinematic characteristics of water striders are outlined,and some mechanical parameters of biological water striders are summarized.The basic equations of water strider movement are then described.Next,an overview is given of the past and current work on skating and jumping movements of biomimetic water strider robots based on surface tension and water pressure dominance.Based on the current research status of biomimetic water strider robots,the shortcomings of current research on biomimetic water striders are summarized,and the future development of biomimetic water strider robots is discussed.This article provides new insights for the design of biomimetic water strider robots.展开更多
The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, w...The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.展开更多
The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of...The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of one bionic spine and four pneumatic artificial muscles(PAMs).The coordinated movement of the bionic flexible body and the leg mechanism can achieve pivot turning gait.First,the pivot turning gait planning of quadruped robot was analyzed,and the coordinated movement sequence chart of pivot turning was presented.Then the kinematics modeling of leg side swing and body bending for pivot turning was derived,which should meet the condition of the coordinated movement between bionic flexible body and leg mechanism.The PAM experiment was conducted to analyze its contraction characteristic.The study on pivot turning of the quadruped robot will lay a theoretical foundation for the further research on dynamic walking stability of the quadruped robot in unstructured environment.展开更多
Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the ...Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51735009).
文摘The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.
基金supported by National Natural Science Foundation of China (Grant Nos. 50675079,50875246)Program for Innovative Research Team (in Science and Technology) in University of Henan Province,China
文摘Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been explored.In order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile robot.The locus error of a robot body is measured,when robot moves along a given track.Error of driven joint variables is obtained by error calculation model in terms of the locus error of robot body.Error value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model modified.The model of the relation between robot＇s locus errors and kinematic variables errors is set up to achieve the kinematic error compensation.On the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is discussed.Moreover,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot＇s locus.Take MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is studied.The actual locus errors of the robot body are measured before and after compensation in the test.According to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one time.The kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No. 2006AA04Z245)the Program for Changjiang Scholars and Innovative Research Team in University(Grant No. IRT0423)
文摘In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.In the simulation experiments,adaptive regulation of inter-leg phase sequence,omnidirectional locomotion and ground accommodation were realized.Moreover,statically stable free gait was obtained simultaneously,which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
基金funded by National Natural Science Foundation of China(Nos.62473236,62073196).
文摘In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Target search in complex water environments has always been a major challenge in the field of underwater robots.To address this problem,this paper proposes a multi-biomimetic robot fish collaborative target search method based on Distributed Model Predictive Control(DMPC).First,we established a bionic robot fish kinematic model and a multi-biomimetic robot fish communication model;second,this paper proposed a distributed model predictive control algorithm based on the distributed search theory framework,so that the bionic robot fish can dynamically adjust their search path according to each other’s position information and search status,avoid repeated coverage or missing areas,and thus improve the search efficiency;third,we conducted simulation experiments based on DMPC,and the results showed that the proposed method has a target search success rate of more than 90%in static targets,dynamic targets,and obstacle environments.Finally,we compared this method with Centralized Model Predictive Control(CMPC)and Random Walk(RW)algorithms.The DMPC approach demonstrates significant advantages,achieving a remarkable target search success rate of 94.17%.These findings comprehensively validate the effectiveness and superiority of the proposed methodology.It can be seen that DMPC can effectively dispatch multiple bionic robot fish to work together to achieve efficient search of vast waters.It can significantly improve the flexibility,scalability,robustness and cooperation efficiency of the system and has broad application prospects.
基金supported by the National Natural Science Foundation of China(No.12372005)the Aeronautical Science Foundation of China(No.ASFC-2024Z070050001)the Natural Science Foundation of Liaoning Province(2024-MSBA-32).
文摘In this paper,inspired by the running motion gait of a cheetah,an H-shaped bionic piezoelectric robot(H-BPR)based on the standing wave principle is proposed and designed.The piezoelectric robot realizes linear motion,turning motion,and turning motion with different radi by the voltage differential driving method.A prototype with a weight of 38 g and dimensions of 150×80×31 mm^(3) was fabricated.Firstly,the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot leg.The motion principle of the piezo-electric robot was analyzed,and then the piezoelectric robot's modal analysis and harmonic response analysis were carried out using finite element analysis software.Finally,an experimental setup was built to verify the effectiveness and high efficiency of the robot's motion,and the effects of frequency,voltage,load,and height of the driving leg on the robot's motion performance were discussed.The performance test results show that the piezoelectric robot has a maximum veloc-ity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 g.In addition,the H-BPR with unequal drive legs has better climbing performance,and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.
基金supported by the National Natural Science Foundation of China(No.52405317)the Special Funds for Science and Technology Programs in Jiangsu Province(BZ2024021)+3 种基金the Natural Science Foundation of Jiangsu Province(BK20241407)the Talent Startup Funding of Chaohu University(KYQD-2023035)the Natural Science Research Projects of Chaohu University(XLZ-202205,XLZ202301)the Horizontal Projects of School-Enterprise Cooperation(No.hxkt20230267).
文摘Wall-climbing robots can stably ascend vertical walls and even ceilings,making them suitable for specialized tasks in high-risk,confined,and harsh conditions.Therefore,they have excellent application prospects and substantial market demand.However,several challenges remain,including limited load-carrying capacity,short operational duration,a high risk of detachment,and the lack of standardized physical and control interfaces for carrying auxiliary equipment to complete missions.This study analyzes the macro and micro structures and movement mechanisms of typical organisms in terms of negative pressure adsorption,hook-and-claw adhesion,dry adhesion,and wet adhesion.The exploration of biological wall-climbing mechanisms is integrated with the adhesion techniques used in practical wall-climbing robots.Additionally,the mechanisms,properties,and typical wall-climbing robots associated with adhesion technologies were investigated,including negative pressure adsorption,hook-and-claw adhesion,bionic dry adhesion,bionic wet adhesion,electrostatic adhesion,and magnetic adhesion.Furthermore,the typical gaits of quadruped and hexapod robots are analyzed,and bionic control techniques such as central pattern generators,neural networks,and compliant control are applied.Finally,the future development trends of wall-climbing robots will be examined from multiple perspectives,including the diversification of bionic mechanisms,the advancement of mechanical structure intelligence,and the implementation of intelligent adaptive control.Moreover,this paper establishes a solid foundation for the innovative design of bionic wall-climbing robots and provides valuable guidance for future advancements.
基金Supported by National Natural Science Foundation of China(Grant No.51375289)Shanghai Municipal Natural Science Foundation of China(Grant No.13ZR1415500)Innovation Fund of Shanghai Education Commission(Grant No.13YZ020)
文摘The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depcnds on the mechanical properties of the body mechanism, It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles（PAMs）. This kind of body imitates the four-legged creatures＇ kinematical structure and physical properties, which has the characteristic of changeable stiff＇hess, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving tbrce of PAM is determined. The experiment of body bending is conductcd, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.
基金This work is financially supported by the National Natural Science Foundation of China （Grant No. 51075014）.
文摘A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed, and its kinematic characteris- tics were analyzed. A series of experiments were conducted to observe locust morphology and jumping process. According to classic mechanics, the jumping process analysis was conducted to build the relationship of the locust jumping parameters. The take-offphase was divided into four stages in detail. Based on the biological observation and kinematics analysis, a mechanical model was proposed to simulate locust jumping. The forces of the flexible-rigid hopping mechanism at each stage were ana- lyzed. The kinematic analysis using pseudo-rigid-body model was described by D-H method. It is confirmed that the proposed bionic mechanism has the similar performance as the locust hind leg in hopping. Moreover, the jumping angle which decides the jumping process was discussed, and its relation with other parameters was established. A calculation case analysis corroborated the method. The results of this paper show that the proposed bionic mechanism which is inspired by the locust hind limb has an excellent kinematics performance, which can provide a foundation for design and motion planning of the hopping robot.
基金the National Natural Science Foundation of China,Natural Science Foundation of Shandong Province with Grant No.ZR2019MEE019Fundamental Research Funds for the Central University with Grant No.2019ZRJC006.
文摘In this paper,a bionic mantis shrimp amphibious soft robot based on a dielectric elastomer is proposed to realize highly adaptive underwater multimodal motion.Under the action of an independent actuator,it is not only able to complete forward/backwards motion on land but also has the ability of cyclically controllable transition motion from land to water surface,from water surface to water bottom and from water bottom to land.The fastest speed of the soft robot on land is 170 mm/s,and it can crawl while carrying up to 4.6 times its own weight.The maximum speeds on the water surface and the water bottom are 30 mm/s and 14.4 mm/s,respectively.Furthermore,the soft robot can climb from the water bottom with a 9°slope transition to land.Compared with other similar soft robots,this soft robot has outstanding advantages,such as agile speed,large load-carrying capacity,strong body flexibility,multiple motion modes and strong underwater adaptability.Finally,nonlinear motion models of land crawling and water swimming are proposed to improve the environmental adaptability under multiple modalities,and the correctness of the theoretical model is verified by experiments.
基金This work was supported by the National Nature Science Foundation of China(Grant No.51905367)the Foundation of Applied Basic Research General Youth Program of Shanxi(Grant No.201901D211011)the Scientific and Technological Innovation Programs of Higher Education Institutions of Shanxi(Grant No.2019L0176).
文摘This paper proposed a novel multi-motion wheel-leg-separated quadruped robot that can adapt to both the structured and unstructured grounds.The models of the positive/inverse position,velocity,acceleration,and workspace of the single leg mechanism in the quadruped robot were established.A single leg complex dynamic model of the quadruped robot is derived,considering the mass and inertial force of all the components in the mechanical leg.Combined with the human jumping law in situ,the jumping trajectory of the single leg was planned.To reduce landing impact,a soft landing strategy based on motion planning was proposed by simulating human knee bending and buffering action.The change law of the kinetic energy and momentum of all the links in the single leg mechanism during the jump process was studied,and the influencing factors of jump height were analyzed to realize the height control of the jump.Single leg jumping dynamics model was established,and a dynamic control strategy for trajectory tracking with foot force compensation was proposed.In Adams and MATLAB/Simulink software,the jump simulation of single leg mechanism was carried out.The prototype of quadruped robot was developed,and the jumping experiment of the single leg mechanism was tested.The robot's single leg bionic jumping and soft landing control are realized.
基金The work is supported by the National Natural Science Foundation of China(Nos.U21A20124 and 52205059)the Key Research and Development Program of Zhejiang Province(No.2022C01039)。
文摘Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped robots.Among various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large payloads.As the most critical movement unit of a quadruped robot,the limb leg unit(LLU)directly affects movement speed and reliability,and requires a compact and lightweight design.Inspired by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an LLU.We propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston rod.In addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the LLU.The mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah muscle.The mass of the optimized LLU is reduced by 24.5%,and the optimized LLU shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.
基金supported in part by the National Natural Science Foundation of China(No.11972170).
文摘Biological water striders have advantages such as flexible movement,low disturbance to the water surface,and low noise.Researchers have developed a large number of biomimetic water strider robots based on their movement mechanism,which have broad application prospects in water quality testing,water surface reconnaissance,and search.This article mainly reviews the research progress of biomimetic water strider robots.First,the biological and kinematic characteristics of water striders are outlined,and some mechanical parameters of biological water striders are summarized.The basic equations of water strider movement are then described.Next,an overview is given of the past and current work on skating and jumping movements of biomimetic water strider robots based on surface tension and water pressure dominance.Based on the current research status of biomimetic water strider robots,the shortcomings of current research on biomimetic water striders are summarized,and the future development of biomimetic water strider robots is discussed.This article provides new insights for the design of biomimetic water strider robots.
基金the National Natural Science Foundation of China(60175029).
文摘The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)the Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of one bionic spine and four pneumatic artificial muscles(PAMs).The coordinated movement of the bionic flexible body and the leg mechanism can achieve pivot turning gait.First,the pivot turning gait planning of quadruped robot was analyzed,and the coordinated movement sequence chart of pivot turning was presented.Then the kinematics modeling of leg side swing and body bending for pivot turning was derived,which should meet the condition of the coordinated movement between bionic flexible body and leg mechanism.The PAM experiment was conducted to analyze its contraction characteristic.The study on pivot turning of the quadruped robot will lay a theoretical foundation for the further research on dynamic walking stability of the quadruped robot in unstructured environment.
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.
