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Design of an Active Flexible Spine for Wall Climbing Robot Using Pneumatic Soft Actuators

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Journal of Bionic Engineering 2023年第2期20卷 530-542页

作者： Guangming Chen Tao Lin Gabriel Lodewijks aihong ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China School of Engineering College of EngineeringScience&EnvironmentUniversity of NewcastleCallaghan CampusUniversity DriveCallaghanNSW2308Australia

Wall climbing robots can be used to undertake missions in many unstructured ***,current wall climbing robots have mobility difficulties such as in the turning or *** of the main reasons for the limitations is the poor flexibility of the *** robotic technology can actively enable structure deformation and stiffness varations,which provides a solution for the design of active flexible *** research utilizes pneumatic soft actuators to design a flexible spine with the abilities of actively bending and twisting by each *** bending and torsion moment equilibriums,respectively,from air pressure to material deformations,the bending and twisting models for a single actuator with respect to different pressure are *** theoretical models are verified by finite-element method simulations and experimental *** addition,the bending and twisiting motions of single joint and whole spine are analytically *** results show that the bionic spine can perform desired deformations in accordance with the applied pressure on specified *** variations of the stiffness are also numerically ***,the effectiveness of the bionic flexible spine for actively producing sequenced motions as biological spine is experimentally *** work demonstrated that the peneumatic spine is potential to improve the spine flexibility of wall climbing robot.

关键词： Active spine Bionic design Soft robot Gecko locomotion Finite-element modeling

The Mechanics and Trajectory Control in Locust Jumping

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Journal of Bionic Engineering 2013年第2期10卷 194-200页

作者： Longbao Han Zhouyi Wang aihong ji Zhendong Dai Institute of Bio-Inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronauties Nanjing 210016 P. R. China China International Engineering Consulting Corporation Beijing 100048 P. R. China

Locusts （Locusta migratoria manilensis） are characterised by their flying ability and abiding jump ability. Research on the jumping mechanics and behavior of locusts plays an important role in elucidating the mechanism of hexapod locomotion. The jump gestures of locusts were observed using high-speed video camera at 250 fps. The reaction forces of the hindlegs were measured using two three-dimensional sensors, in case the two hindlegs attached on separated sensor plates. The jump gestures and reaction forces were used to illustrate the locust jumping mechanism. Results show that the trajectory control is achieved by rapid rolling and yawing movements of the locust body, caused by the forelegs, midlegs and hindlegs in different jumping phases. The final jump trajectory was not determined until hind tarsi left platform. The horizontal co-impulse between two hindlegs might play a key role in jump stability and accuracy. Besides, the angle between two hindlegs affects the control of jump trajectory but has a little effect on the elevation angle of a jump, which is controlled mechanically by the initial position of the hindlegs. This research lays the groundwork for the probable design and development ofbiomimetic robotics.

关键词： locust hindleg reaction force elevation angle jump trajectory

Corrigendum to ＂The Mechanics and Trajectory Control in Locust Jumping＂ [Journal of Bionic Engineering, 2013, 10, 194-200]

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Journal of Bionic Engineering 2014年第2期11卷 322-323页

作者： Longbao Han Zhouyi Wang aihong ji Zhendong Dai Institute of Bio-inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P. R. China China International Engineering Consulting Corporation Beijing 100048 P. R. China

This communication gives the corrigendum to the paper ＂The Mechanics and Trajectory Control in Locust Jumping＂, Journal of Bionic Engineering, 2013, 10, 194-200. doi： 10.1016/S1672-6529（13）60215-2

关键词： Mechanics Trajectory Control Locust Jumping

Effect of Dual-Tasks Walking on Human Gait Patterns

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Journal of Bionic Engineering 2022年第4期19卷 991-1002页

作者： Xiyuan Zhang Ke Rong Guangming Chen aihong ji Yawei Song Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing 210016China Olympic College Communication University of China NanjingNanjing 211162China Department of Sports Health Sciences Nanjing Sport Institute8 Linggusi RoadNanjing 210014China Centre of Scientific Experiment Nanjing Sport InstituteNanjing 210014China

A human gait pattern conformed to the law of the inverted pendulum and could be described by the movement of its center of mass(COM).A sinusoidal function based on an inverted pendulum was used to plan the COM trajectory of humanoid robots for gait ***,studying the human dual-tasks gait pattern is essential for improving the gait adaptability of humanoid *** well-known humanoid robot prototypes can complete stable walking,running,jumping,and other movements closely mimicking human *** study provides a theoretical reference for the gait planning and design of humanoid robots by comparing differences in the stride time,cadence,step length,step width,stride length,walking speed and COM movement during single-and dual-tasks *** showed no significant difference in the time *** dual-tasks walking,the walking speeds decreased(P=0.001)and the COM sidewise movement increased,indicating an enhancement in the automatic motion rhythm in cognitive *** can easily select new different speeds to better adapt to the competition of attention *** enhance the adaptability of humanoid robots to the COM offset,the independent motion of the hip joint separated from the trunk and lower limbs must be considered in the robot design.

关键词： Gait analysis Kinematics COM trajectory Kinesiology

The Unique Strategies of Flight Initiation Adopted by Butterflies on Vertical Surfaces

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Journal of Bionic Engineering 2021年第4期18卷 840-856页

作者： Huan Shen aihong ji Qian Li Wei Wang Guodong Qin Qingfei Han Institute of Bio-inspired Structure and Surface Engineering Nanjing University of Aeronautics and AstronauticsNanjing210016China

As the basis of flight behavior,the initiation process of insect flight is accompanied by a transition from crawling mode to flight mode,and is clearly important and *** take flight from a vertical surface,which is more difficult than takeoff from a horizontal plane,but greatly expands the space of activity and provides us with an excellent bionic *** this study,the entire process of a butterfly alighting from a vertical surface was captured by a high-speed camera system,and the movements of its body and wings were accurately measured for the first *** analyzing the movement of the center of mass,it was found that before initiation,the acceleration perpendicular to the wall was much greater than the acceleration parallel to the wall,reflecting the positive effects of the legs during the initiation ***,the angular velocity of the body showed that this process was unstable,and was further destabilized as the flight speed *** the angles between the body and the vertical direction before and after leaving the wall,a significant change in body posture was found,evidencing the action of aerodynamic forces on the *** movement of the wings was further analyzed to obtain the laws of the three Euler angles,thus revealing the locomotory mechanism of the butterfly taking off from the vertical surface.

关键词： flight initiation butterfly vertical surface body and wing kinematics speed and stability strategies

Effect of Slope Degree on the Lateral Bending in Gekko geckos

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Journal of Bionic Engineering 2015年第2期12卷 238-249页

作者： Zhouyi Wang Lei Cai Wei Li aihong ji Wenbo Wang Zhendong Dai Institute of Bio-Inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

A gecko＇s habitat possesses a wide range of climbing slopes that pose a number of postural challenges for climbing lo- comotion. Few studies have examined the relationship between the lateral bending of the trunk of a gecko and other aspects of locomotion when climbing. In this paper, three-dimensional reaction forces and high-speed videos of Gekko geckos moving on different slopes are used to reveal how the lateral bending of the animal＇s trunk responds to changing slopes. The results of such observations indicate that the minimum bending radius continually decreases with an increase in the slope, illustrating that the degree of bending of the trunk becomes significantly greater. Moreover, a lateral bending mechanical model is used to show the interrelation between the lateral bending in the frontal plane and the sagittal deformation of the trunk caused by gravity. Taken together, these results have advanced our understanding of the role of lateral bending of vertebrates when climbing on a slope.

关键词： slope lateral bending reaction force gecko ceiling

Contribution of friction and adhesion to the reliable attachment of a gecko to smooth inclines

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Friction 2018年第4期6卷 407-419页

作者： Zhouyi WANG Qiang XING Wenbo WANG aihong ji Zhendong DAI Institute of Bio-inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronautics School of Mechanical Engineering Nantong University

Geckos' ability to move on steep surfaces depends on their excellent adhesive structure, timely adjustments on locomotor behaviors, and elaborates control on reaction forces. However, it is still unclear how they can generate a sufficient driving force that is necessary for locomotion, while ensuring reliable adhesion on steep inclines. We measured the forces acting on each foot and recorded the contact states between feet and substrates when geckos encountered smooth inclination challenges ranging from 0° to 180°. The critical angles of the resultant force vectors of the front and hind-feet increased with respect to the incline angles. When the incline angle became greater than 120°, the critical angles of the front- and hind-feet were similar, and the averages of the critical angles of the front - and hind-feet were both smaller than 120°, indicating that the complicated and accurate synergy among toes endows gecko's foot an obvious characteristic of "frictional adhesion" during locomotion. Additionally, we established a contact mechanical model for gecko's foot in order to quantify the contribution of the frictional forces generated by the heel, and the adhesion forces generated by the toes on various inclines. The synergy between multiple contact mechanisms(friction or adhesion) is critical for the reliable attachment on an inclined surface, which is impossible to achieve by using a single-contact mechanism, thereby increasing the animal's ability to adapt to its environment.

关键词： friction adhesion incline frictional adhesion gecko

Locomotion behavior and dynamics of geckos freely moving on the ceiling

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Chinese Science Bulletin 2010年第29期55卷 3356-3362页

作者： WANG ZhouYi WANG jinTong ji aihong DAI ZhenDong Institute of Bio-inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

To understand the mechanical interactions when geckos move on ceiling and to obtain an inspiration on the controlling strategy of gecko-like robot,we measured the ceiling reaction force(CRF) of freely moving geckos on ceiling substrate by a 3-dimensional force measuring array and simultaneously recorded the locomotion behaviors by a high speed *** and the preload force(FP) generated by the geckos were obtained and the functions and the differences between forces generated by fore-and hind-feet were *** results showed that the speed of gecko moving on the ceiling was 0.17-0.48 m/s,all of the fore-and hind-legs pulled toward the body *** geckos attached on the ceiling incipiently,the feet generated a very small incipient FP and this fine FP could bring about enough adhesive normal force and tangential force to make the gecko moving on ceiling *** FP of the fore-feet is larger than that of the *** lateral CRF of the fore-feet is almost the same as that of the hind-feet'*** fore-aft CRF generated by the fore-feet directed to the motion direction and drove their locomotion,but the force generated by the hind-feet directed against the motion *** normal CRF of fore-and hind-feet accounted for 73.4% and 60.6% of the body weight *** show that the fore-aft CRF is obviously lager than the lateral and normal CRF and plays a major role in promoting the fore-feet,while the hind-feet of the main role are to provide a smooth *** results indicate that due to the differences of the locomotion function of each foot between different surfaces,the gecko can freely move on ceiling surfaces,which inspires the structure designing,gait planning and control developing for gecko-like robot.

关键词：运动行为天花板动力学行为壁虎自由慢性肾功能衰竭移动机械控制策略

A Bio-inspired Climbing Robot with Flexible Pads and Claws

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Journal of Bionic Engineering 2018年第2期15卷 368-378页

作者： aihong ji Zhihui Zhao Poramate Manoonpong Wei Wang Guangming Chen Zhendong Dai Institute of Bio-inspired Structure and Surface Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China CBR Embodied AI & Neurorobotics Lab The McerskMc-Kinney Moller Institute University of Southern Denmark Odense M Denmark

Many animals exhibit strong mechanical interlocking in order to achieve efficient climbing against rough surfaces by using their claws in the pads. To maximally use the mechanical interlocking, an innovative robot which utilizes flexible pad with claws is designed. The mechanism for attachments of the claws against rough surfaces is further revealed according to the theoretical analysis. Moreover, the effects of the key parameters on the performances of the climbing robots are obtained. It indicates that decreasing the size of the tip of the claws while maintaining its stiffness unchanged can effectively improve the attachment ability. Furthermore, the structure of robot body and two foot trajectories are proposed and the new robot is presented. Using experimental tests, it demonstrates that this robot has high stability and adaptability while climbing on vertical rough surfaces up to a speed of 4.6 cm.s^-1.

关键词： bionic climbing robot mechanical interlocking claw rough surface