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作者： Lei Liu Yaxin Li Yu Wang Xinyu Ma Graduate School of Southwest Petroleum University Faculty of robotics Engineering Southwest Petroleum University School of Electrical Engineering and Information Southwest Petroleum University

biomimetic undulating fin propulsion systems have the advantages for enhancing the maneuverability and efficiency of underwater robot when compared with conventional driving ***,there are still some defects existing in this approach,such as low speed and difficulty in depth *** paper presents the mechanical design,control system design and experimental evaluation of a biomimetic underwater robot with undulating fin ***,a 3 D model of the robot was established in *** to the kinematic model of the fins,the design of undulating fin propulsion system have been optimized and the phase control method has been proposed to fit with the ***,a control system with hybrid structure switching between autonomous mode and remote mode has been implemented to address the problem that the robot is out of control in underwater environment due to the attenuation of radio ***,the underwater locomotion performance of the robot has been validated in a swimming *** result indicates that the robot can achieve multiple degree of freedoms（DOFs） motions by controlling the kinematic parameters of the fin and was able to swim as fast as 31.6 cm/s（nearly 0.8 body length per second）.

关键词： Undulating fin propulsion biomimetic robot Underwater robot

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A Bionic Starfish Adsorption Crawling Soft robot

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Journal of Bionic Engineering 2024年第1期21卷 149-165页

作者： Xiangang Huang Chenghao Zhang Wenqi Feng Xiangye Zhang Deyuan Zhang Yanqiang Liu Institute of Bionic and Micro-Nano Systems School of Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China

A variety of soft wall-climbing robots have been developed that can move in certain *** of these soft robots can only move on conventional surfaces and lack adaptability to complex *** the adaptability of soft robots on complex surfaces is still a challenging *** this end,we study the layered structure of the starfish tube foot and the valve flap structure in the water vascular system,and use an ultrasonic stress detector to study the stiffness distribution of the arm *** by the motion of the starfish,we present a bionic soft wall-climbing robot,which is driven by two groups of pneumatic feet and achieves body bending through active adaptation *** design the structure of the foot to flex to provide driving force,and there are suction cups at the end of the foot to provide *** soft foot has a simple structure design,adapts to a variety of surfaces,and does not damage the surface of the *** stiffness layers achieve stiffness changes by the principle of line *** Central Pattern Generator theory is introduced to coordinately control the multiple feet of the *** experiments,we verify the adaptability of the soft robot to curved *** research may provide a reference for the design and development of crawling soft robots on complex surfaces.

关键词： Starfish Tube foot biomimetic robot Soft robot Climbing robot

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Wireless actuation and control of ionic polymer-metal composite actuator using a microwave link

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International Journal of Smart and Nano Materials 2012年第4期3卷 244-262页

作者： J.S.Lee W.Yim C.Bae K.J.Kim Department of Mechanical Engineering University of NevadaLas VegasUSA Department of Chemistry University of NevadaLas VegasUSA Department of Mechanical Engineering University of NevadaRenoUSA

The ionic polymer–metal composite(IPMC),a type of electroactive polymer(EAP)actuator,has created a unique opportunity to design robots that mimic the motion of biological systems due to its soft structure and operation at a low *** this polymer actuator has strong potential for a next-generation artificial muscle actuator,it has been observed by many researchers that supplying actuation voltages in multiple locations is *** robotic applications,a tethered operation is prohibited and the battery weight can be critical for actual *** this research,the remote unit can provide necessary power and control signals to the target mobile robot units actuated by *** research addresses a novel approach of using a wireless power link between the IPMC and a remote unit using microstrip patch antennas designed on the electrode surface of the IPMC for transmitting the *** modulation of the microwave is proposed to selectively actuate a particular portion of the IPMC where the matching patch antenna pattern is *** approach can be especially useful for long-term operation of small-scale locomotion units and avoids problems caused by complex internal wiring often observed in various types of biologically inspired robots.

关键词： ionic polymer-metal composite actuator microwave link wireless actuation robotic application biomimetic robot

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