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Analysis and Comparison of Two Jumping Leg Models for Bioinspired Locust Robot

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Journal of Bionic Engineering 2016年第4期13卷 558-571页

作者： Ziqiang Zhang diansheng chen Kewei chen Hanlong chen School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

Bionic jumping robot can cross the obstacles by jumping, and it has a good application prospect in the unstructured com- plex environment. The less Degree of Freedom （DOF） jumping leg, which has the characteristics of simple control and high rigidity, and is very important in research. Based on the experimental observation of leg physiological structure and take-off process of locust, two 1 DOF jumping leg models, which includes four-bar jumping leg model and slider-crank jumping leg model, are established, and multi objective optimization is conducted to deduce the motion law of two 1 DOF jumping leg models and jumping leg of locust is closer. Then the jumping performance evaluation indices are proposed, which include the mechanical property, body attitude, jumping distance and jumping performances of the two jumping leg models environmental effect. According to these evaluation indices, the are analyzed and compared, and the simulation is conducted for further explanations. The analysis results show that the four-bar jumping leg has smaller structural size and its motion law is closer to the hindleg of locust. The slider-crank jumping leg has better mechanical property, stronger energy storage capacity and the rough ground has less effect on it. This study offers a quantitative analysis and comparison for different jumping leg models of bionic locust jumping robot. Furthermore, a theoretical basis for future research and engineering application is established.

关键词： bionic locust robot jumping leg model parameter optimization jumping performance comparison study

Mechanism of Locust Air Posture Adjustment

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Journal of Bionic Engineering 2015年第3期12卷 418-431页

作者： diansheng chen Kewei chen Ziqiang Zhang Benguang Zhang Robotic Institute in School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

Stimulated locusts often tumble during the jumping process. Locusts can also recover their bodies in the air for flight or landing stability. To increase jumping distance and avoid landing collision of bio-inspired jumping robots, the mechanism of air posture adjustment of locusts is examined in this research. This mechanism can be used to improve the stability of robot. The abdomen swings, wing motions, and the variations in body angle are recorded by a high-speed camera when locusts free fall in air with normal or upside-down initial posture. Results indicate that the wings and abdomen are mainly utilized for air posture adjustment. Moreover, abdomen swing and forewing rotation have positive effects on body pitch. However, locusts have dif- ficulty in recovering their bodies from the upside-down posture without wings, although the body pitch caused by unpredictable perturbation in air can be compensated through abdomen swing. Consequently, body roll is attributed to the wing motion, which is related to two factors, namely, the different flapping amplitudes of the wings on both sides, and the different flapping velocities of wings during the upstroke and downstroke periods. This research may provide reference for the design of jumping robots.

关键词： locusts air posture adjustment abdomen swing asymmetric flapping wings

Prototype Design and Experimental Study on Locust Air-Posture Righting

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Journal of Bionic Engineering 2014年第3期11卷 459-468页

作者： diansheng chen Junmao Yin Kewei chen Kai Zhao Benguang Zhang Robotics Institute Beihang University Beijing 100191 P. R. China

Locust has the capacity to maintain a righting posture and glide through attitude adjustment after leaping. A prototype inspired by the dynamic mechanism of attitude adjustment of locusts was developed. The prototype consists of a pair of wings driven by a four-bar mechanism, and a 2 Degree of Freedom （DOF） tail to imitate the movement of the locust abdomen. The power source, microcontroller, wireless data transmission module, and attitude sensors are contained in the fuselage. Experiments imitating the flight of locust were conducted to determine the mechanism of locust Subsequent Attitude Adjustment （SAA）. The tethered prototype was driven by the movement of the tail and the flapping of the wings. Results show that the pitch and yaw of the tail, and the asymmetric action of the flapping wings significantly influence the posture of the prototype. These findings suggest that both the wiggling abdomen and flapping wings contribute to the locust SAA in the air. This research lays the groundwork and technical support for the probable design and development of practical jumping robots with attitude adjustment function.

关键词： attitude adjustment locust air-posture righting prototype design wiggling tail flapping wing

Bionic Mechanism and Kinematics Analysis of Hopping Robot Inspired by Locust Jumping

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Journal of Bionic Engineering 2011年第4期8卷 429-439页

作者： diansheng chen Junmao Yin Kai Zhao Wanjun Zheng Tianmiao Wang Robotic Institute Beihang University Beijing 100191 P. R. China

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.

关键词： hopping robot flexible-rigid mechanism bionic mechanism kinematics

A navigation method based on POMDP for smart wheelchair in uncertain environments

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High Technology Letters 2010年第2期16卷 164-170页

作者：陶永 Wang Tianmiao Wei Hongxing chen diansheng School of Mechanical Engineering and Automation Beijing University of Aeronautics and Astronautics Beijing 100191 P.R. China

A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a smart wheelchair are discussed. A kinematics model of the smart wheelchair is given, and the model and principle of POMDP are introduced. In order to respond in uncertain local environments, a novel navigation methodology based on POMDP using the sensors perception and the user＇s joystick input is presented. The state space, the action set, the observations and the sensor fusion of the navigation method are given in detail, and the optimal policy of the POMDP model is proposed. Experimental results demonstrate the feasibility of this navigation method. Analysis is also conducted to investigate performance evaluation, advantages of the approach and potential generalization of this paper.

关键词： service robot smart wheelchair navigation method partially observable markov decision process (POMDP)

Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot

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Chinese Journal of Mechanical Engineering 2022年第1期35卷 50-61页

作者： Fu Yuan diansheng chen chenghang Pan Jun Du Xiaodong Wei Min Wang Robotics Institute Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China

To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases,this paper proposes a novel gait balance training robot(G-Balance)based on a six degree-of-freedom parallel *** the platform movement and IMU wearable sensors,two training modes,i.e.,active and passive,are developed to achieve vestibular *** reality technology is applied to achieve visual *** the active training mode,the elderly actively exercises to control the posture change of the platform and the switching of the virtual *** the passive training mode,the platform movement is combined with the virtual scene to simulate bumpy environments,such as earthquakes,to enhance the human anti-interference *** achieve a smooth switching of the scene,continuous speed and acceleration of the platform motion are required in some scenarios,in which a trajectory planning algorithm is *** paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk(differential of acceleration)based on cubic spline planning,which can reduce impact on the joint and enhance stability.

关键词： Gait and balance training robot Balance training mode Optimal trajectory planning

All-Fabric Bi-directional Actuators for Multi-joint Assistance of Upper Limb

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Journal of Bionic Engineering 2023年第6期20卷 2661-2669页

作者： Junlin Ma diansheng chen Zhe Liu Jie Wei Xianglin Zhang Zihan Zeng Yongkang Jiang Institute of Robotics Beihang UniversityBeijing100191China Department of Control Science and Engineering Tongji UniversityShanghai201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210China

According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient *** pneumatic actuators have drawn increasing attention for the development of wearable robots due to their low weight,flexibility,and high power-to-weight ***,most of current actuators were designed for the flexion assistance of a specific joint,and that for joint extension requires further ***,designing an actuator for diverse working scenarios remains a *** this paper,we propose an all-fabric bi-directional actuator to assist the flexion and extension of the elbow,wrist,and fingers.A mathematical model is presented that predicts the deformation and guides the design of the proposed bi-directional *** further validate the applicability and adaptability of the proposed actuator for different joints,we developed a 3-DOF soft robotic *** results show that the robotic suit can assist the motion of the elbow,wrist,and finger of the subject.

关键词： Soft robotic suits Fabric-based actuators Multi-DOF motion Upper limb rehabilitation

Diagonal-symmetrical and Midline-symmetrical Unit Cells with Same Porosity for Bone Implant: Mechanical Properties Evaluation

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Journal of Bionic Engineering 2019年第3期16卷 468-479页

作者： Jian Li diansheng chen Yingying Zhang Yan Yao Zhongjun Mo Lizhen Wang Yubo Fan Robotic Institute Beihang University Beijing 100191 China Beijing Key Laboratory of Rehabilitation Technical Aids for Old-Age and Disability and Key Laboratory of Rehabilitation Aids Technology and System of the Ministry of Civil Affairs National Research Center for Rehabilitation Technical Aids Beijing 100176 China Beijing Advanced Innovation Center for Biomedical Engineering Beihang University Beijing 100191 China Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education School of Biological Science and Medical Engineering Beihang University Beijing 100191 China

In this study, mechanical properties of bionic porous structures with diagonal-symmetrical and midline-symmetrical unit cells were studied when the porosities were same. Three typical unit cells (Diamond (DO), Rhombic Dodecahedron (RD), and Octet Truss (OT)) were selected, in which DO has diagonal-symmetrical shape, while RD and OT share midline-symmetrical structure. Based on the same porosity, corresponding models were designed, and Ti6Al4V samples were manufactured by electron beam melting. Then, using Mechanical Properties Testing (MPT) and Finite Element Analysis (FEA) methodologies, mechanical properties and transmissions of different porous structures were evaluated. Besides, composition and details before and after printing were analyzed with Energy Dispersive Spectrometer (EDS), X-ray diffraction (XRD) and Scanning Electron Microscope (SEM). MPT results showed that midline-symmetrical shape would have superior compressive performance than diagonal-symmetrical shape, but opposite trend for the torsion performance, which were in line with FEA prediction. Furthermore, effective modulus of DO, RD and OT were 2.59 GPa, 4.89 GPa, and 1.77 GPa, approximating the mechanical properties of human bones. Additionally, manufacturing defects and discrepancies between FEA and MPT were found. This study would provide great helps for unit cell selection and initial mechanical properties matching for optimum bone implants.

关键词： bionic design porous implant mechanical properties unit cell additive manufacturing 3D printing

The Regulatory Effect of Braided Silk Fiber Skeletons with Differential Porosities on In Vivo Vascular Tissue Regeneration and Long-Term Patency

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Research 2023年第2期2022卷 247-264页

作者： Xili Ding Weirong Zhang Peng Xu Wentao Feng Xiaokai Tang Xianda Yang Lizhen Wang Linhao Li Yan Huang Jing Ji diansheng chen Haifeng Liu Yubo Fan School of Engineering Medicine Beihang UniversityBeijing 100083China Key Laboratory of Biomechanics and Mechanobiology(Beihang University) Ministry of EducationBejing Advanced Innovation Center for Biomedical EngineeringSchool of Biological Science and Medical EngineeringBeihang UniversityBeijing 100083China 3 eRobot Institute School of Mechanical Engineering and AutomationBeihang UniversityBeijing 100083China

The development of small-diameter vascular grafts that can meet the long-term patency required for implementation in clinical practice presents a key challenge to the research *** techniques such as the braiding of scaffolds can offer a tunable platform for fabricating vascular grafts,the effects of braided silk fiber skeletons on the porosity,remodeling,and patency in vivo have not been thoroughly investigated.

关键词： field skeleton thoroughly