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A bio-inspired Flapping-Wing robot With Cambered Wings and Its Application in Autonomous Airdrop

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2138-2150页

作者： Haifeng Huang Wei He Qiang Fu Xiuyu He Changyin Sun School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 100083China Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China IEEE School of Automation Southeast UniversityNanjing 210096 School of Artificial Intelligence Anhui UniversityHefei 230601China

Flapping-wing flight, as the distinctive flight method retained by natural flying creatures, contains profound aerodynamic principles and brings great inspirations and encouragements to drone developers. Though some ingenious flapping-wing robots have been designed during the past two decades, development and application of autonomous flapping-wing robots are less successful and still require further research. Here, we report the development of a servo-driven bird-like flapping-wing robot named USTBird-I and its application in autonomous airdrop.inspired by birds, a camber structure and a dihedral angle adjustment mechanism are introduced into the airfoil design and motion control of the wings, respectively. Computational fluid dynamics simulations and actual flight tests show that this bionic design can significantly improve the gliding performance of the robot, which is beneficial to the execution of the airdrop mission.Finally, a vision-based airdrop experiment has been successfully implemented on USTBird-I, which is the first demonstration of a bird-like flapping-wing robot conducting an outdoor airdrop mission.

关键词： Autonomous airdrop bionic design bio-inspired robot cambered wing flapping wing

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A Review:From Aquatic Lives Locomotion to bio-inspired robot Mechanical Designations

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Journal of bionic Engineering 2023年第6期20卷 2487-2511页

作者： Pengxiao Bao Liwei Shi Lijie Duan Shuxiang Guo Zhengyu Li School of Medical Technology Beijing Institute of TechnologyBeijing100081China School of Life Science Beijing Institute of TechnologyBeijing100081China The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologyBeijing Institute of TechnologyNo.5ZhongguancunSouth StreetBeijing100081China The Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen518055GuangdongChina

With the development of camera technology,high-speed cameras have greatly contributed to capturing the movement and posture of animals,which has dramatically promoted experimental biology research.At the same time,with the concept of bionics gradually gaining popularity among researchers,the design of robots is absorbing more and more biological features,where the interest in the bio-inspired robot is hewed out.Compared with the traditional robot,the bio-inspired robot imitates the motion pattern to achieve similar propulsion features,which may be more effective and reasonable.In this paper,the motion patterns of aquatic animals are divided into four categories according to their propulsion mechanisms:drag-based,lift-based,jet-based,and interface-based.And bio-inspired robots imitating aquatic prototypes are introduced and reviewed.Finally,the prospect of aquatic bio-inspired robots is discussed.

关键词： bionic bio-inspired robot Aquatic animal Propelling mechanism Structure design

A bio-inspired Biped Water Running robot Incorporating the Watt-I Planar Linkage Mechanism

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Journal of bionic Engineering 2013年第4期10卷 415-422页

作者： Linsen Xu Tao Mei Xianming Wei Kai Cao Mingzhou Luo Hefei Institutes of Physical Science Chinese Academy of Science Hefei 230031 P. R. China University of Science and Technology of China Hefei 230026 P. R. China Changzhou Institute of Advanced Manufacturing Technology Changzhou 213164 P. R. China

In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator （CPG）-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot （weight： 320 g）. When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5~. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot.

关键词： bio-inspired robot basilisk lizards-like robot biped water running CPG-based fuzzy control

Design and Experimental Validation of a Worm-Like Tensegrity robot for In-Pipe Locomotion

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Journal of bionic Engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and adaptability.Although soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft materials.Tensegrity structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft structures.By applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside pipes.First,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is analyzed.Then,the optimal parameters of the module are obtained based on the tensegrity form-finding.The deformation ability of the tensegrity module is tested experimentally.Finally,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in series.Motion performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow pipe.Experimental results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

A biomimetic robot crawling bidirectionally with load inspired by rock-climbing fish

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2022年第1期23卷 14-26页

作者： Jin-rong WANG Yong-xin XI Chen JI Jun ZOU State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310027China College of Electrical Engineering Zhejiang UniversityHangzhou310027China Institute of Marine Science and Technology Shandong UniversityQingdao266237China

Using a unique adhesive locomotion system,the rock-climbing fish(Beaufortia kweichowensis)adheres to submerged surfaces and crawls both forwards and backwards in torrential streams.To emulate this mechanism,we present a biomimetic robot inspired by the locomotion model of the rock-climbing fish.The prototype contains two anisotropic adhesive components with linkages connected to a linear actuator.Each anisotropic adhesive component consists of one commercial sucker and two retractable bioinspired fin components.The fin components mimic the abduction and adduction of pectoral and pelvic fins through the retractable part to move up and down.The robot prototype was tested on vertical and inverted surfaces,and worked successfully.These results demonstrate that this novel system represents a new locomotion solution for surface movement without detachment from the substrate.

关键词： Fish kinematics Adhesive locomotion mechanism Fin rays motion Climbing model bio-inspired robot

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Learning Rat-Like Behavior for a Small-Scale biomimetic robot

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Engineering 2022年第10期17卷 232-243页

作者： Zihang Gao Guanglu Jia Hongzhao Xie Qiang Huang Toshio Fukuda Qing Shi Key Laboratory of biomimetic robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Intelligent robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent robots and Systems Beijing Institute of TechnologyBeijing 100081China

Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these MPs.To mimic typical rat behavior with high similarity,we propose parameterizing the behavior using a probabilistic model and movement characteristics.First,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight MPs.We used the softmax classifier to obtain the behavior-movement hierarchical probability model.Secondly,we specified the MPs using movement parameters that are static and dynamic.We obtained the predominant values of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,respectively.These predominant parameters were used for fitting the rat spinal joint trajectory using a second-order Fourier series,and the joint trajectory was generalized using a back propagation neural network with two hidden layers.Finally,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,respectively.We implemented the six typical behaviors on the robot,and the results show high similarity when compared with the behaviors of actual rats.

关键词： biomimetic bio-inspired robot Neural network learning system Behavior generation

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Empirical Study on Shapes of the Foot Pad and Walking Gaits for Water-Running robots

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Journal of bionic Engineering 2014年第4期11卷 572-580页

作者： HyunGyu Kim Yanheng Liu Kyungmin Jeong TaeWon Seo School of Mechanical Engineering Yeungnam University Gyeongsan 712-749 Republic of Korea Nuclear Convergence Technology Division Korea Atomic Energy Research Institute Daejeon 305-353 Republic of Korea

Recently, various kinds ofbiomimetic robots have been studied. Among these biomimetic robots, water-running robots that mimic the characteristics of basilisk lizards have received much attention. However, studies on the performance with respect to different geometric parameters and gaits have been lacking. To run on the surface of water, a water-running robot needs suffi- cient force with high stability to stay above the water. We experimentally measured the performance of the foot pads with different geometric parameters and with various gaits. We measured and analyzed the forces in the vertical direction and rolling angles of five different foot pad shapes： a circular shape, square shape, half-spherical shape, open half-cylinder shape, and closed half-cylinder shape. Additionally, the rolling stabilities of three kinds of gaits： biped, trotting, and tripod, were also empirically analyzed. The results of this research can be used as a guideline to design a stable water-running robot.

关键词： water-running robot geometric parameter gait bio-inspired robot experimental study

Towards an Esox lucius inspired multimodal robotic fish

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Science China(Information Sciences) 2015年第5期58卷 182-194页

作者： WU ZhengXing YU JunZhi SU ZongShuai TAN Min LI ZhenLong State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences College of Electronic Information and Control Engineering Beijing University of Technology

In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and heaving-pitching.We found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion.

关键词： bio-inspired robot robotic fish CPG multimodal swimming motion control

bio-inspired robotic manta ray powered by ionic polymer-metal composite artificial muscles

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International Journal of Smart and Nano Materials 2012年第4期3卷 296-308页

作者： Zheng Chen Tae I.Um Hilary Bart-Smith Department of Mechanical and Aerospace Engineering University of VirginiaCharlottesvilleVA 22904USA

The manta ray(Manta birostris)is the largest species of rays that demonstrates excellent swimming capabilities via large-amplitude flapping of its pectoral fins.In this article,we present a bio-inspired robotic manta ray using ionic polymer–metal composite(IPMC)as artificial muscles to mimic the swimming behavior of the manta ray.The robot utilizes two artificial pectoral fins to generate undulatory flapping motions,which produce thrust for the robot.Each pectoral fin consists of an IPMC muscle in the leading edge and a passive polydimethylsiloxane membrane in the trailing edge.When the IPMC is actuated,the passive polydimethylsiloxane membrane follows the bending of the leading edge with a phase delay,which leads to an undulatory flapping motion on the fin.Characterization of the pectoral fin has shown that the fin can generate flapping motions with up to 100%tip deflection and 40◦twist angle.To test the free-swimming performance of the robot,a light and compact on-board control unit with a lithium ion polymer battery has been developed.The experimental results have shown that the robot can swim at 0.067 BL/s with portable power consumption of under 2.5 W.

关键词： ionic polymer-metal composite artificial muscle bio-inspired robot