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International Journal of Smart and Nano Materials 2017年第4期8卷 144-213页

作者： James D.Carrico Tom Tyler Kam K.Leang Design AutomationRoboticsand Control(DARC)LaboratoryDepartment of Mechanical EngineeringUniversity of UtahSalt Lake CityUTUSA

Smart polymeric and gel actuators change shape or size in response to stimuli like electricity,heat,or *** smart polymeric-and gel-based actuators are compliant and well suited for development of soft mechatronic and robotic *** paper provides a thorough review of select smart polymeric and gel actuator materials where an automated and freeform fabrication process,like 3D printing,is exploited to create custom shaped monolithic *** particular,the advantages and limitations,examples of applications,manufacturing and fabrication techniques,and methods for actuator control are ***,a rigorous comparison and analysis of some of the advantages and limitations,as well as manufacturing processes,for these materials,are presented.

关键词： Smart polymeric actuators gel actuators soft mechatronics

Multi-gait snake robot for inspecting inner wall of a pipeline

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Biomimetic Intelligence & robotics 2024年第2期4卷 32-41页

作者： Jingwei Liu Man Li Yahui Wang Da Zhao Rui Deng School of Electrical and Information Engineering Beijing University of Civil Engineering and ArchitectureBeijing 100044China Bejing Key laboratory of Robot Bionics and Function Research Bejing 100044China

In the field of pipeline inner wall inspection,the snake robot demonstrates significant advantages over other inspection *** a simple traveling wave or meandering motion will suffice for inspecting the inner wall of small-diameter pipes,comprehensively and meticulously inspecting the inner wall of large-diameter pipes requires the snake robot to adopt a helical gait that closely adheres to the inner *** review of existing literature indicates that most research and development on the helical gait of snake robots has focused on the outer surface of cylinders,with very few studies dedicated to developing a helical gait specifically for the inspection of the inner wall of ***,in this study,we propose a helical gait that is suitable for the inner wall of pipes and meets the requirements of gas pipeline *** helical gait is designed using the backbone curve ***,we create a mathematical model for a circular helix curve with constant curvature and torsion,ensuring it is applicable to a snake robot prototype in a laboratory *** calculate the joint angles required for two conical spiral curves with variable curvature and torsion,establish a new model,and define the physical significance of the specific *** ensure the feasibility of the proposed gait,we conduct experiments involving meandering and traveling wave motions to verify the communication and control between the host computer and the snake *** upon this foundation,we further validate the mathematical model of the complex helical motion gait through simulation *** findings provide a theoretical basis for realizing helical movement with a real snake robot.

关键词： Pipeline inner wall detection Snake robot Spiral motion Backbone curve Modeling and simulation

Control of myoelectric prosthetic hand with a novel proximity-tactile sensor

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Science China(Technological Sciences) 2022年第7期65卷 1513-1523页

作者： YANG Bin JIANG Li GE ChuanYang CHENG Ming ZHANG Jia State Key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150080China Key laboratory of Microsystems and Microstructure Manufacturing Ministry of Education Harbin Institute of TechnologyHarbin 150080China

Currently, prosthetic hands can only achieve several prespecified and discrete hand motion patterns from popular myoelectric control schemes using electromyography(EMG) signals. To achieve continuous and stable grasping within the discrete motion pattern, this paper proposes a control strategy using a customized, flexible capacitance-based proximity-tactile sensor. This sensor is integrated at the fingertip and measures the distance and force before and after contact with an object. During the pregrasping phase, each fingertip’s position is controlled based on the distance between the fingertip and the object to make all fingertips synchronously approach the object at the same distance. Once contact is established, the sensor turns to output the tactile information, by which the contact force of each fingertip is finely controlled. Finally, the method is introduced into the human-machine interaction control for a myoelectric prosthetic hand. The experimental results demonstrate that continuous and stable grasping could be achieved by the proposed control method within the subject’s discrete EMG motion mode. The subject also obtained tactile feedback through the transcutaneous electrical nerve stimulation after contact.

关键词： prosthetic hand proximity tactile sensor myoelectric control sensory feedback

Reinforcement learning based parameter optimization of active disturbance rejection control for autonomous underwater vehicle

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Journal of Systems Engineering and Electronics 2022年第1期33卷 170-179页

作者： SONG Wanping CHEN Zengqiang SUN Mingwei SUN Qinglin College of Artificial Intelligence Nankai UniversityTianjin 300350China Key laboratory of Intelligent robotics of Tianjin Nankai UniversityTianjin 300350China

This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion *** the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC ***, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.

关键词： autonomous underwater vehicle(AUV) reinforcement learning(RL) Q-learning linear active disturbance rejection control(LADRC) motion decoupling parameter optimization

An Inchworm-inspired Robot Based on Modular Body, Electronics and Passive Friction Pads Performing the Two-anchor Crawl Gait

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Journal of Bionic Engineering 2018年第5期15卷 820-826页

作者： Flavio Moreira Anthony Abundis Michael Aguirre Justin Castillo Pranav A. Bhounsule robotics and motion laboratory Department of Mechanical Engineering The University of Texas at San Antonio One UTSA Circle San Antonio rX78249 USA

We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm：（1） three-part body that is 3D printed and actuated by two servo motors to allow a looping and lengthening action, （2） passive friction pads to anchor the feet, each of which may be disengaged using a servo motor actuated lever arm, and （3） modular body and electronics. The robot is about 2 feet （61 cm） in length, has a mass of about 4 kg, and uses an open-loop controller to achieve steady crawling gait. The inchworm robot achieved a speed of 2.54 *** on level ground as well as on an incline plane of 19~. The energy usage as measured by the Mechanical Cost of Transport （a non-dimensional number defined as the energy used per unit weight per unit distance moved） is 3.34. Our results indicate that simple robotic designs that copy the basic features of natural organisms provide a promising alternative over conventional wheeled robots.

关键词： inchworm bioinspiration two-anchor crawl gait 3D printing sliding locomotion cost of transport

Soft robotics:Morphology and Morphology-inspired motion Strategy

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IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1500-1522页

作者： Fan Xu Hesheng Wang Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Key laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China

robotics has aroused huge attention since the *** of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental ***,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured *** decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing *** presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific *** paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关键词： Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics

Low-resistance, high-force, and large-ROM fabric-based soft elbow exosuits with adaptive mechanism and composite bellows

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Science China(Technological Sciences) 2023年第1期66卷 24-32页

作者： HUANG WeiCheng FENG Miao YANG DeZhi GU GuoYing robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Meta robotics Institute Shanghai Jiao TongUniversityShanghai 200240China

Due to the lightweight and compliance, fabric-based pneumatic exosuits are promising in the assistance and rehabilitation of elbow impairments. However, existing elbow exosuits generally suffer from remarkable mechanical resistance on the flexion of the elbow, thus limiting the output force, range of motion(ROM), and comfortability. To address these challenges, we develop a fabric-based soft elbow exosuit with an adaptive mechanism and composite bellows in this work. With the elbow kinesiology considered, the adaptive mechanism is fabricated by sewing the interface of the exosuit into spring-like triangle pleats, following the profile of the elbow to elongate or contract when the elbow flexes or extends. The composite bellows are implemented by further sealing a single blade of bellows into two branches to enhance the output force. Based on these structural features, we characterize the mechanical performance of different soft elbow exosuits: exosuit with normal bellows-NB, exosuit with adaptive mechanism and normal bellows-AMNB, exosuit with adaptive mechanism and composite bellows-AMCB. Experimental results demonstrate that by comparing with NB, the mechanical resistance of AMNB and AMCB decreases by 80.6% and 78.6%, respectively;on the other hand, the output torque of AMNB and AMCB increases to 120.3% and 207.0%, respectively, at50 k Pa when the joint angle is 120°. By wearing these exosuits on a wooden arm model(1.25 kg), we further verify that AMCB can cover a full ROM of 0°–130° at the elbow with 500 g weight. Finally, the application on a health volunteer with AMCB shows that when the volunteer flexes the elbow to lift a weight of 500 g, the s EMG activity of the biceps and triceps is markedly reduced.

关键词： wearable robots rehabilitation robots soft robot applications soft actuators design

Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key laboratory of Intelligent Morphing Mechanisms and Adaptive robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

Design and Analysis of a 2-DOF Actuator with Variable Stiffness Based on Leaf Springs

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Journal of Bionic Engineering 2022年第5期19卷 1392-1404页

作者： ShangKui Yang Peng Chen DongQi Wang Yi Yu YuWang Liu State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110000China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110000China Key laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Tianjin UniversityTianjin 300192China University of Chinese Academy of Sciences Beijing 100049China

Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human–robot interaction,which is an inevitable development trend in *** existing variable stiffness actuators are basically single degree-of-freedom(DOF)rotating joints,which are achieving multi-DOF motion by cascades and resulting in complex robot body *** this paper,an integrated 2-DOF actuator with variable stiffness is proposed,which could be used for bionic wrist joints or shoulder *** 2-DOF motion is coupling in one universal joint,which is different from the way of single DOF actuators *** on the 2-DOF orthogonal motion generated by the spherical wrist parallel mechanism,the stiffness could be adjusted by varying the effective length of the springs,which is uniformly distributed in the variable stiffness *** variable stiffness principle,the model design,and theoretical analysis of the VSA are discussed in this *** independence of adjusting the equilibrium position and stiffness of the actuator is validated by *** results show that the measured actuator characteristics are sufficiently matched the theoretical *** the future,VSA could be used in biped robot or robotic arm,ensuring the safety of human–robot interaction.

关键词： Physical human-robot interaction 2-DOF Bionic wrist joints Variable stiffness actuator Leaf spring

A Real-Time Planning and Control Framework for Robust and Dynamic Quadrupedal Locomotion

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Journal of Bionic Engineering 2023年第4期20卷 1449-1466页

作者： Jun Li Haibo Gao Yuhui Wan Haitao Yu Chengxu Zhou State Key laboratory of robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering University of LeedsLeedsLS29JTUK

Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.

关键词： Bionic robot Legged locomotion motion planning Whole-body control