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蚯蚓直线运动的三轴地面反作用力:测量、分析和对机器人建模的影响

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Acta Mechanica Sinica 2024年第2期40卷 1-14页

作者：方虹斌师瑞徐鉴 Institute of AI and robotics State Key Laboratory of Medical NeurobiologyMOE Engineering Research Center of AI&RoboticsFudan UniversityShanghai200433China

蚯蚓在狭窄受限环境中具有良好的移动性,但其在运动过程中与地面的三轴反作用力还未被深入研究.本文探讨了蚯蚓在直线运动过程中的三轴地反力特征及其对机器人建模的影响.具体地,本研究设计了一个基于应变片的三轴微型测力板来测量蚯蚓(... 详细信息

蚯蚓在狭窄受限环境中具有良好的移动性,但其在运动过程中与地面的三轴反作用力还未被深入研究.本文探讨了蚯蚓在直线运动过程中的三轴地反力特征及其对机器人建模的影响.具体地,本研究设计了一个基于应变片的三轴微型测力板来测量蚯蚓(P.guillelmi)在直线运动时的三轴地反力.通过建立地反力的时间历程与运动视频的对应关系,将蚯蚓的周期性运动划分为三个阶段,并从蚯蚓身体变形的角度解析了地反力在三个阶段的力学特征.本研究还对蚯蚓的地反力特征进行了统计分析,并建立了蚯蚓直线运动过程的阻力系数模型.以此为基础,本文还提出了与机器人节段/单元变形相关的阻力系数模型,为离散型和连续型仿蚯蚓机器人的动力学建模提供基础.本研究首次对蚯蚓运动过程中的mN级三轴地反力进行了测量、分析和建模,研究结果对蚯蚓运动生物力学、仿蚯蚓移动机器人设计和机器人-环境接触界面调控等具有重要的指导意义.

关键词：移动机器人直线运动运动视频运动生物力学应变片周期性运动环境接触界面调控

Efficient Dynamic Locomotion of Quadruped Robot via Adaptive Diagonal Gait

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Journal of Bionic Engineering 2024年第1期21卷 126-136页

作者： Jian Bi Teng Chen Xuewen Rong Guoteng Zhang Guanglin Lu Jingxuan Cao Han Jiang Yibin Li The Center for robotics School of Control Science and EngineeringShandong UniversityJi Nan 250000China

Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different speeds.Inspired by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this paper.As the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of gaits.The optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired motion.The gait and step frequency of the robot can automatically adapt to the change of speed.Several experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/s.The ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the ground.Experiments have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.

关键词： Quadruped robot Gait transition Adaptive gait Energy efficiency

Neural Dynamics for Cooperative motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

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Nano-Micro Letters 2024年第2期16卷 450-483页

作者： Qianqian Wang Shihao Yang Li Zhang Jiangsu Key laboratory for Design and Manufacture of Micro‑Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211189People’s Republic of China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China T Stone robotics Institute The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Department of Surgery The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities.Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to achieve.Over the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing approaches.This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment interactions.Providing recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.

关键词： Micro/nanorobot Remote sensing Wireless control Self-propulsion Actuation at small scales

A High-Speed Launching Mechanism Inspired by a Slingshot Spider’s Web

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Journal of Bionic Engineering 2022年第2期19卷 440-447页

作者： Tom Bates John Gerig Manuel Avitia Gunnar Waldvogel Tesfay Legesse Justin Washington Pranav A.Bhounsule robotics and motion laboratory Department of Mechanical and Industrial EngineeringUniversity of Illinois at Chicago842 W.Taylor St.ChicagoIL 60607USA

Slingshot spiders use their conical webs to launch themselves at high speeds to catch prey.We built a launching mechanism inspired by the slingshot spider.Our launch mechanisms comprise a steel structure with eye bolts to hold a conical web made from latex rubber tubing.We pull the web by a winch using a lever arm.A quick-release mechanism connects the web to the winch using a tough-grid paracord.When we release the quick-return mechanism,the projectile material consisting of a steel ball achieved an acceleration of 5107 m s^(-2) or 521 times gravity,and a speed of 66.41 m s^(-1).The power per unit mass and energy per unit mass of our prototype was one tenth and one fifth that of the spider’s web respectively.In particular,we found that web structure consisting multiple radial web elements reinforced with circumferential web elements provide enhanced stiffness;as a comparison our web had a stiffness of about eight times that of traditional slingshot with a single radial web element.Our results suggest that adapting designs from nature can lead to potentially superior performance of man-made contraptions.

关键词： Slingshot spider Launching mechanisms Catapult Bioinspiration

An Experimental Study on Response and Control of a Flapping-Wing Aerial Robot Under Wind Gusts

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Journal of Bionic Engineering 2024年第1期21卷 209-223页

作者： Kazuki Shimura Hikaru Aono Chang-kwon Kang Graduate School of Science and Technology Shinshu University3-15-1 TokidaUedaNagano 3868567Japan Department of Mechanical Engineering and robotics 3-15-1 TokidaUedaNagano 3868567Japan Department of Mechanical and Aerospace Engineering University of Alabama in HuntsvilleTechnology Hall N266HuntsvilleAL35899USA

Bioinspired flapping-wing micro-air-vehicles(FWMAVs)have the potential to be useful aerial tools for gathering information in various environments.With recent advancements in manufacturing technologies and better understanding of aerodynamic mechanisms behind of the flapping flight,outdoor flights have become a reality.However,to fully realize the potential of FWMAVs,further improvements are necessary,particularly in terms of stability and robustness under gusty conditions.In this study,the response and control of a tailless two-winged FWMAV under the wind gusts are investigated.Physical experiments are conducted with a one-degree-of-freedom gimbal to focus on effects of wind gusts on the rotational motion of the FWMAV.Proportional-derivative and sliding-mode controls are adopted for the attitude control.Results present that the body angles changed in time and reached approximately 50°at the maximum due to the wing gusts.The sliding-mode controller can more effectively control the rotational angle in the presence of disturbances and both the wing speed and changes in wind speed have an impact on the effectiveness of attitude control.These results contribute to the development of of tailless two-winged,single-motor driven FWMAVs in terms of the design of attitude controller and testing apparatus.

关键词： Flapping-wing micro-air vehicles Sliding-mode control Pitch and roll angle-Wind gus

Human-robot object handover:Recent progress and future direction

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Biomimetic Intelligence & robotics 2024年第1期4卷 1-13页

作者： Haonan Duan Yifan Yang Daheng Li Peng Wang Institute of Automation Chinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Centre for Artificial Intelligence and robotics Hong Kong Institute of Science and InnovationChinese Academy of SciencesHong Kong 999077China

Human-robot object handover is one of the most primitive and crucial capabilities in human-robot collaboration.It is of great significance to promote robots to truly enter human production and life scenarios and serve human in numerous tasks.Remarkable progressions in the field of human-robot object handover have been made by researchers.This article reviews the recent literature on human-robot object handover.To this end,we summarize the results from multiple dimensions,from the role played by the robot(receiver or giver),to the end-effector of the robot(parallel-jaw gripper or multi-finger hand),to the robot abilities(grasp strategy or motion planning).We also implement a human-robot object handover system for anthropomorphic hand to verify human-robot object handover pipeline.This review aims to provide researchers and developers with a guideline for designing human-robot object handover methods.

关键词： Human-robot interactions Object handover

Illumination Adaptive Identification Algorithm of a Reconfigurable Modular Robot

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Instrumentation 2024年第1期11卷 79-87页

作者： Fangyi Xing Cheng Xu Yanming Wu Hongwei Gao School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang 110158 State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 School of Instrument Science and Engineering Southeast UniversityNanjing 210096 School of Automation Shenyang Aerospace UniversityShenyang 110135

Reconfigurable modular robots feature high mobility due to their unconstrained connection manners.Inspired by the snake multi-joint crawling principle,a chain-type reconfigurable modular robot(CRMR)is designed,which could reassemble into various configurations through the compound joint motion.Moreover,an illumination adaptive modular robot identification(IAMRI)algorithm is proposed for CRMR.At first,an adaptive threshold is applied to detect oriented FAST features in the robot image.Then,the effective detection of features in non-uniform illumination areas is achieved through an optimized quadtree decomposition method.After matching features,an improved random sample consensus algorithm is employed to eliminate the mismatched features.Finally,the reconfigurable robot module is identified effectively through the perspective transformation.Compared with ORB,MA,Y-ORB,and S-ORB algorithms,the IAMRI algorithm has an improvement of over 11.6%in feature uniformity,and 13.7%in the comprehensive indicator,respectively.The IAMRI algorithm limits the relative error within 2.5 pixels,efficiently completing the CRMR identification under complex environmental changes.

关键词： reconfigurable modular robot visual identification feature detection feature matching

Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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Science China(Technological Sciences) 2024年第3期67卷 774-790页

作者： HU TeTe LU XinJiang YI Jian WANG YuHui XU Du State Key laboratory of Precision Manufacturing for Extreme Service Performance School of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China

The human wrist, a complex articulation of skeletal muscles and two-carpal rows, substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3-DOF) orienting tasks and regulating stiffness according to variations in interaction forces. However, few soft robotic wrists simultaneously demonstrate dexterous 3-DOF motion and variable stiffness;in addition, they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal rows.In this study, we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW) that is capable of rotating in the x and y directions, twisting around the z-axis, and possessing stiffness-tunable capacity. To actuate the BSRW, a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA) with large axial, linear deformation(η_(lcmax)=70.6%,η_(lemax)=54.3%) and small radial expansion(η_(demax)=3.7%) is designed to mimic the motion of skeletal muscles. To represent the function of two-carpal rows, a compact particle-jamming joint(PJJ) that combines particles with a membrane-covered ballsocket mechanism is developed to achieve various 3-DOF motions and high axial load-carrying capacity(>60 N). By varying the jamming pressure, the stiffness of the PJJ can be adjusted. Finally, a centrally positioned PJJ and six independently actuated SRBPAs, which are in an inclined and antagonistic arrangement, are sandwiched between two rigid plates to form a flexible,stable, and compact BSRW. Such a structure enables the BSRW to have a dexterous 3-DOF motion, high load-carrying ability,and stiffness tunability. Experimental analysis verify 3-DOF motion of BSRW, producing force of 29.6 N and 36 N and torque of2.2 Nm in corresponding rotations. Moreover, the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ. Finally, a system combining a BSRW and a soft enclosing gripper is proposed to demonstrate outstanding manipulation capability in p

关键词： pneumatic soft actuators particle jamming robotic wrist soft robotics stiffness-tunable