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Journal of bionic Engineering 2021年第2期18卷 306-318页

作者： Jihoon Kim Dang Xuan Ba Hoyeon Yeom Joonbum Bae Mechanical Engineering Ulsan National Institute of Science and Technology(UNIST)Ulsan 44919South Korea Automatic Control HoChiMinh City University of Technology and Education(HCMUTE)HoChiMinh City 71307Vietnam

Evolutionary Computation(EC)has strengths in terms of computation for gait ***,conventional evolutionary algorithms use typical gait parameters such as step length and swing height,which limit the trajectory deformation for optimization of the foot ***,the quantitative index of fitness convergence is *** this paper,we perform gait optimization of a quadruped robot using foot placement perturbation based on *** proposed algorithm has an atypical solution search range,which is generated by independent manipulation of each placement that forms the foot trajectory.A convergence index is also introduced to prevent premature cessation of *** conventional algorithm and the proposed algorithm are applied to a quadruped robot;walking performances are then compared by gait *** the two algorithms exhibit similar computation rates,the proposed algorithm shows better fitness and a wider search *** evolutionary tendency of the walking trajectory is analyzed using the optimized results,and the findings provide insight into reliable leg trajectory design.

关键词： bionic robot evolutionary computation genetic algorithm gait optimization parameter perturbation convergence index

A Unified Trajectory Optimization Approach for Long-Term and Reactive Motion Planning of Legged Locomotion

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Journal of bionic Engineering 2023年第5期20卷 2108-2122页

作者： Yapeng Shi Bin Yu Kaixian Ba Mantian Li School of Mechanical Engineering Yanshan UniversityNo.438 West Hebei AvenueQinhuangdao066004HebeiPeople’s Republic of China State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin150001People’s Republic of China

This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged *** on a generic point-mass model,the approach is formulated as a nonlinear optimization problem,incorporating constraints such as robot kinematics,dynamics,ground reaction forces,obstacles,and target *** unified optimization approach can be applied to both long-term motion planning and the reactive online planning through the use of model predictive control,and it incorporates vector field guidance to converge to the long-term planned *** effectiveness of the approach is demonstrated through simulations and physical experiments,showing its ability to generate a variety of walking and jumping gaits,as well as transitions between them,and to perform reactive walking in obstructed environments.

关键词： Legged locomotion Motion planning Trajectory optimization bionic robot

A Simplified Model, Dynamic Analysis and Force Estimation for a Large-scale Orinthopter in Forward Flight Based on Flight Data

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Journal of bionic Engineering 2020年第5期17卷 989-1008页

作者： Mohammad Ali Amini Moosa Ayati Mohammad Mahjoob School of Mechanical Engineering College of EngineeringUniversity of TehranNorth Kargar StreetTehranIran

Similarities and differences of a large-scale flapping-wing robot with fixed-wing UAVs in equations of motion,trim curves,and aerodynamic forces in forward flight are discussed in this paper and a simplified model for flapping flight is *** to the high Wing to Total Weight(WTW)ratio of large-scale omithopters,simple rigid body dynamics is not accurate enough for flight dynamics *** the other hand,the multi-body dynamics associated with flapping gives little insight into the behavior of the resulting model due to complexity of *** is also difficult to design proper controllers for such complicated *** this paper,the effects of different terms of multi-body equations of ornithopter on the estimated aerodynamic forces are studied via experimental flight data.A simpler but yet accurate set of equations is obtained by removing less effective terms from original *** presented model is in the form of normal aircraft equations plus some additional terms which can be used in different control and estimation *** addition,trim conditions of forward flight are extracted using several flight tests,and corresponding periodic behavior of states and forces are *** studies are applicable for identifying time-periodic models.

关键词： flapping wing robot bionic robot ornithopter trim condition analysis low-order modeling aerodynamic force estimation

Minimum-Time and Minimum-Jerk Gait Planning in Joint Space for Assistive Lower Limb Exoskeleton

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Journal of bionic Engineering 2023年第5期20卷 2164-2178页

作者： Habib Mohamad Sadjaad Ozgoli Fadi Motawej Department of Electrical and Computer Engineering Tarbiat Modares UniversityTehran14117-13116Iran Department of Mechatronics Engineering Tishreen UniversityLattakia0096341Syria

Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking *** gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the ***,it is vital to have a gait planning method in the joint *** this paper,a minimum-time and minimum-jerk planner is proposed for the robot *** do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the *** minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum *** conditions of the joints are determined to secure backward balance and fulfill gait ***,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.

关键词： bionic robot Gait planning Optimization Complete paraplegic Lower limb exoskeleton

Research on Gait Trajectory Planning of Wall-Climbing robot Based on Improved PSO Algorithm

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Journal of bionic Engineering 2024年第4期21卷 1747-1760页

作者： Jian Li Xianlin Shi Peng Liang Yanjun Li Yilin Lv Mingyue Zhong Zezhong Han School of Mechanical and Automotive Engineering Guangxi University of Science and TechnologyLiuzhou545006China

In order to reduce the labor intensity of high-altitude workers and realize the cleaning and maintenance of high-rise building exteriors,this paper proposes a design for a 4-DOF bipedal wall-climbing bionic robot inspired by the inchworm’s *** robot utilizes vacuum adsorption for vertical wall attachment and legged movement for *** enhance the robot’s movement efficiency and reduce wear on the adsorption device,a gait mimicking an inchworm’s movement is planned,and foot trajectory planning is performed using a quintic polynomial *** velocity constraints,foot trajectory optimization is achieved using an improved Particle Swarm Optimization(PSO)algorithm,determining the quintic polynomial function with the best fitness through ***,through comparative experiments,the climbing time of the robot closely matches the simulation results,validating the trajectory planning method’s accuracy.

关键词： bionic robot Wall-climbing robot PSO Gait planning Trajectory planning

Design of a Novel Exoskeleton with Passive Magnetic Spring Self-locking and Spine Lateral Balancing

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Journal of bionic Engineering 2024年第1期21卷 236-255页

作者： Jhon F.Rodríguez-León Betsy D.M.Chaparro-Rico Daniele Cafolla Francesco Lago Eduardo Castillo-Castañeda Giuseppe Carbone Centro de Investigacion en Ciencia Aplicada y Tecnologia Avanzada Unidad Querétaro MecatronicaInstituto Politécnico NacionalCerro Blanco 14176090 Colinas del CimatarioQuerétaroMexico Department of Mechanical Energy and Management EngineeringUniversity of CalabriaVia P.Bucci Cubo 46 C87036 RendeItaly Faculty of Science and Engineering Department of Computer ScienceSwansea UniversitySwanseaUK CESTER University of Cluj-NapocaCluj-NapocaRomania

This paper proposes a new upper-limb exoskeleton to reduce worker physical *** proposed design is based on a novel PRRRP(P-Prismatic;R-Revolute)kinematic chain with 5 passive Degrees of Freedom(DoF).Utilizing a magnetic spring,the proposed mechanism includes a specially designed locking mechanism that maintains any desired task *** proposed exoskeleton incorporates a balancing mechanism to alleviate discomfort and spinal torsional effects also helping in limb weight *** paper reports specific models and simulations to demonstrate the feasibility and effectiveness of the proposed *** experimental characterization is performed to validate the performance of the mechanism in terms of forces and physical strain during a specific application consisting of ceiling-surface drilling *** obtained results preliminarily validate the engineering feasibility and effectiveness of the proposed exoskeleton in the intended operation task thereby requiring the user to exert significantly less force than when not wearing it.

关键词： Assistive mechanism Exoskeleton Locking mechanism bionic robot

Research on Gliding Aerodynamic Effect of Deformable Membrane Wing for a robotic Flying Squirrel

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Journal of bionic Engineering 2018年第2期15卷 379-396页

作者： Xuepeng Li Wei Wang Yifan Tang Linqing Wang Tao Bai Fei Zhao Yushen Bai robotics Institute Beihang University Beijing 100191 China School of Energy and Power Engineering Beihang University Beijing 100191 China Ministry-of-Education Key Laboratory of Fluid Mechanics Beihang University Beijing 100191 China Department of Mechanical and Aerospace Engineering University of California San Diego CA 92093 USA

Inspired by creatures with membrane to obtain ultra-high gliding ability, this paper presents a robotic flying squirrel （a novel gliding robot） characterized as membrane wing and active membrane deformation. For deep understanding of membrane wing and gliding mechanism from a robotic system perspective, a simplified blocking aerodynamic model of the deformable membrane wing and CFD simulation are finished. In addition, a physical prototype is developed and wind tunnel experiments are carried out. The results show that the proposed membrane wing is able to support the gliding action of the robot. Meanwhile, factors including geometry characteristics, material property and wind speed are considered in the experiments to investigate the aerodynamic effects of the deformable membrane wing deeply. As a typical characteristic of robotic flying squirrel, deformation modes of the membrane wing not only affect the gliding ability, but also directly determine the effects of the posture adjustment. Moreover, different deformation modes of membrane wing are illustrated to explore the possible effects of active membrane deformation on the gliding performance. The results indicate that the deformation modes have a significant impact on posture adjustment, which reinforces the rationality of flying squirrel＇s gliding strategy and provides valuable information on prototype optimal design and control strategy in the actual gliding process.

关键词： robotic flying squirrel deformable membrane wing active membrane deformation gliding mechanism bionic robot

The Impulse Excitation Joint Servo Drive Design and Adaptive Backstepping Control of Humanoid robots

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Journal of bionic Engineering 2018年第1期15卷 114-125页

作者： Kcqiang Bai Minzhou Luo Tao Li Jue Wu Southwest University of Science and Technology Mianyang 621010 China Department of Automation School of Information Science of Technology University of Science and Technology of China Hefei 230026 China Institute of Advanced Manufacturing and Technology Hefei Institute of Physical Science Chinese Academy of Sciences Changzhou 213164 China

This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.

关键词： adaptive backstepping control bionic robot drive integration design impulse excitation servo drive

Mechanical Design with Experimental Verification of a Lightweight Exoskeleton Chair

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Journal of bionic Engineering 2021年第2期18卷 319-332页

作者： Zihao Du Zefeng Yan Tiantian Huang Ou Bai Qin Huang Bin Han State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Human Cyber-Physical Systems Laboratory Department of Electrical and Computer EngineeringFlorida International UniversityMiami 33174USA Department of Rehabilitation Medicine Union HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430022China

In this study,a human-chair model was developed as the basis for a wearable-chair design.A prototype chair,HUST-EC,based on the model was fabricated and *** the optimization under the golden divisional method,an optimized simulation of the operating mode with the lowest chair height was implemented.A novel multi-link support structure has been established with parameters optimized using Matlab *** stress analysis of the solid models was conducted to ensure the adequate support from the designed chair for the *** subjects participated in the evaluation experiment,who performed both static tasks and dynamic *** experimental results consisted of subjective evaluation and objective *** experimental data demonstrate that(1)the HUST-EC can effectively reduce the activation level of related muscles at a variety of tasks;(2)the plantar pressure was reduced by 54%–67%;(3)the angle between the upper body and the vertical axis was reduced by 59%–77%;(4)the subjective scores for chair comfortability,portability,and stability were all higher than *** results further revealed that the designed chair can reduce the musculoskeletal burden and may improve work efficiency.

关键词： exoskeleton wearable chair bionic robot mechanism design ergonomics