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IEEE International Conference on robotics and Biomimetics (IEEE ROBIO)

作者： Zhang, Yang Wu, Zhengxing Wang, Jian Tan, Min Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

ISBN: (纸本)9781665405355

This paper focuses on the turning maneuverability of a bionic gliding robotic dolphin. Inspired by natural dolphin's turning styles, a novel gliding robotic dolphin with a special yaw joint is developed to purse high turning maneuverability. Thus, the robot can realize several turning patterns based on its flippers, yaw joint and dolphin-like dorsal-abdominal undulating mechanism. Considering both dolphin-like mode and gliding mode, a dynamic model is constructed to further analyze the turning performance through adopting the Newton-Euler method. Thereafter, five turning patterns are selected to explore how the special mechanism as well as some key parameters affect the turning performance of the robotic dolphin. The simulation results reveal that every pattern can successfully and effectively realize turning motions, furthermore, appropriate turning pattern as well as control parameters can contribute to high maneuverability, i.e., small turning radius and high turning velocity, which provides valuable guidance for future control and application of the bionic gliding robotic dolphin.

关键词： Gliding robotic dolphin bionic robot motion analysis turning patterns

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Multiple Bio-Inspired Father-Son Underwater robot for Underwater Target Object Acquisition and Identification

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MICROMACHINES 2022年第1期13卷 25-25页

作者： An, Ruochen Guo, Shuxiang Yu, Yuanhua Li, Chunying Awa, Tendeng Kagawa Univ Grad Sch Engn Takamatsu Kagawa 7610396 Japan Beijing Inst Technol Sch Life Sci & Technol Minist Ind & Informat Technol Key Lab Convergence Med Engn Syst & Healthcare Beijing 100081 Peoples R China Changchun Univ Sci & Technol Sch Life Sci & Technol Changchun 130022 Peoples R China

Underwater target acquisition and identification performed by manipulators having broad application prospects and value in the field of marine development. Conventional manipulators are too heavy to be used for small target objects and unsuitable for shallow sea working. In this paper, a bio-inspired Father-Son Underwater robot System (FURS) is designed for underwater target object image acquisition and identification. Our spherical underwater robot (SUR), as the father underwater robot of the FURS, has the ability of strong dynamic balance and good maneuverability, can realize approach the target area quickly, and then cruise and surround the target object. A coiling mechanism was installed on SUR for the recycling and release of the son underwater robot. A Salamandra-inspired son underwater robot is used as the manipulator of the FURS, which is connected to the spherical underwater robot by a tether. The son underwater robot has multiple degrees of freedom and realizes both swimming and walking movement modes. The son underwater robot can move to underwater target objects. The vision system is installed to enable the FURS to acquire the image information of the target object with the aid of the camera, and also to identify the target object. Finally, verification experiments are conducted in an indoor water tank and outdoor swimming pool conditions to verify the effectiveness of the proposed in this paper.

关键词： father-son underwater robot system spherical underwater robot bionic robot hydrodynamic analysis

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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

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Application of Forearm FMG signals in Closed Loop Modality-matched Sensory Feedback Stimulation

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Journal of bionic Engineering 2020年第5期17卷 899-908页

作者： Jing Wei Tan Yimesker Yihun Department of Mechanical Engineering Wichita State UniversityWichitaKansas 67260USA

This study is aimed at exploring a technology that can use the human physiological information,such as Force Myography(FMG)signals to provide sensory feedback to prosthetic hand *** is based on the principle that with the intent to move the prosthetic hand,the existing limbs in the arm recruit specific group of *** muscles react with a change in the cross-sectional area;piezoelectric sensors placed on these muscles will generate a voltage(FMG signals),in response to the change in muscle *** correlation between the amplitude of the FMG signals and intensity of pressure on fingertips during grasping is then computed and a dynamic relation(model)is established through system identification in *** estimated models generated a fitting accuracy of more than 80%.The model is then programmed into the Arduino microcontroller,so that a real-time and proportional force feedback is channeled to amputees through a micro *** such percentages of accuracy in sensory feedback without relying on touch sensors on the prosthetic hand that could be affected by mechanical wear and other interaction factors is *** advanced signal processing and classification techniques may also refine the findings to better capture and correlate the force variations with the sensory feedback.

关键词： FMG sensory feedback prosthetic hand bionic robot modality-matched sensory stimulation

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Effect Analysis of Elastic Components on Jumping Performance of bionic Leg

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Procedia Computer Science 2022年 209卷 58-66页

作者： Daming Nie Pu Zhang Guang Gao Jason Gu Interdisciplinary Innovation Research Institute Zhejiang Lab Hangzhou 310000 China Department of Electrical and Computer Engineering Dalhousie University Halifax NS B3H 4R2 Canada

Most species of bipeds walk with "bouncing gait" in nature, which plays an important role in their rapid and energy-saving movement. From the perspective of bionics, the "bouncing gait" for an ostrich-like one-leg is introduced in this paper, the bouncing characteristics of the leg is analyzed, the effect law of elastic component on the bouncing performance of the one-leg is revealed, and the forms and mechanisms of failure of the elastic component is obtained. This study provides theoretical references for the selection of elastic components in the ostrich-like robot, and gives an optimization scheme for improving its bouncing performance.

关键词： bionic robot Bouncing leg SLIP model Leaf spring Elastic failure

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Development of a bionic fish remotely operated vehicle

International Core Journal of Engineering

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International Core Journal of Engineering 2021年第12期7卷 92-100页

作者： Bingyu Zhu Shuting Shao Jiayin Yuan Ziming Chu

The bionic fish remotely operated vehicle is an underwater observation type of robot, which is a new idea to solve problem of strong noise and high resistance that ordinary underwater ROV cannot efficiently deal with. Due to the complex observation tasks under water, it is difficult to rely on the ordinary ROV to move noise-free and smoothly. This device is specifically designated to use for the complex infrastructure inspection and shoal monitoring. The design includes hydraulic device and propeller thruster combination to empower robot with the function of steering in three degrees of freedom, and underwater camera and sensors are established to be able to achieve digital information exchange, which allows both ground station to send control directive and receive graphic footage and sensoring data.

关键词： ROV bionic robot underwater

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Unsteady aerodynamics of a micro flapping rotary wing in forward flight

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AEROSPACE SCIENCE AND TECHNOLOGY 2021年 111卷 106530-106530页

作者： Wu, Jianghao Yan, He Zhou, Chao Zhang, Yanlai Beihang Univ Sch Transportat Sci & Engn Beijing 100191 Peoples R China Beihang Univ Sch Aeronaut Sci & Engn Beijing 100191 Peoples R China

Flapping rotary wing (FRW) is a promising wing layout applicable to micro air vehicles design due to its capability in high lift production. Previous aerodynamic investigations of FRW have mainly focused on hovering flight, while forward flight has been relatively ignored. Therefore, this numerical study aims to address the unsteady aerodynamics of FRW in forward flight based on a FRW configuration with a forward-tilted rotational plane. Results show that compared with hovering flight, forward flying FRW shows a rotational-cycle-averaged thrust and lift reduction and an enhanced rotating moment, all of which can be mainly ascribed to the changes in the aerodynamics on the retreating side. For FRW rotating at a specified rotational speed, the larger advance ratio and severe forward tilt of its rotational plane are both disadvantageous to thrust production and can lead to significant lift reduction. However, they are beneficial for rotational moment enhancement and conducive to FRW rotating at higher speeds, thereby further compensating for the losses in thrust and lift. By further taking a real FRW at near-zero rotating moment into consideration, high thrust and lift can be achieved at the same time in cases of high advance ratio and large rotational plane tilt angle due to fast passive rotating, which differs from flapping wing and rotary wing. These findings can expand our understanding of the unsteady aerodynamics of flapping wing with complex kinematics in forward flight and provide guidance to the design of an FRW micro air vehicle that is capable of forward flight. (C) 2021 Elsevier Masson SAS. All rights reserved.

关键词： bionic robot Micro air vehicle Flapping wing Rotary wing Aerodynamics Forward flight

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Motion Control of bionic robots via Biomimetic Learning

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UNMANNED SYSTEMS 2018年第3期6卷 165-174页

作者： Li, Chenzui Cao, Jiawei Ouyang, Wenjuan Ren, Qinyuan Zhejiang Univ Coll Control Sci & Engn Hangzhou 310027 Zhejiang Peoples R China Natl Univ Singapore Dept Mech Engn Singapore 117575 Singapore

Locomotion of animals is highly coordinating, efficient and full of maneuverability. Such outstanding and unique characteristics are acquired through millions of years of evolution. It is highly desirable to enhance robots with such characteristics, which is one of the ultimate objectives of biomimetic research. To achieve this goal, in this paper, a biomimetic learning approach for locomotion generation of bionic robots is proposed. The main feature of the learning approach is adopting multiple general internal models (GIMs) to learn and regenerate coordinated animal behaviors. This work discusses the basic mechanism of the proposed GIM-based learning approach. Moreover, two cases with different bionic robots are studied to explore the effectiveness and the generality of the proposed approach. This paper summarizes the recent development of biomimetic learning. It is noted that this work is devoted to the contribution of Late Professor Jian-xin Xu in this area.

关键词： Biomimetic learning bionic robot GIM

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Optimal design of a parallel bionic eye mechanism

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2019年第2期33卷 879-887页

作者： Cheng, Yuanhao Wang, Sun'an Yu, Dehong Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Shaanxi Peoples R China

To obtain a large viewing angle and fast, smooth tracking of the target for a robot in an unknown environment, the vertebrate extraocular muscles are imitated in this paper, the configuration with a large field of view and high motion precision is studied, and then, a smallsized "inverted-tricept" parallel bionic eye mechanism is designed. For the "inverted-tricept" mechanism, the large inclination will make the mechanism more "slender", whereas the high precision requires the mechanism to be "stout". Thus, there is a contradiction between these two indexes. To ensure a large field of view and high eye movement accuracy simultaneously, the non-dominated sorting-based genetic algorithm-II (NSGA-II) is adopted under the constraints of the overall dimensions, driver stroke and hinge deflection to optimize the moving platform inclination and kinematic performance. Thus, the structural parameters are obtained. According to the optimization results, the dynamic simulation analysis of the system is conducted, and the rationality of the structural parameters is verified. In addition, the experimental prototype is built accordingly. It is shown from the actual measurement results that the designed parallel bionic eye has a distortion-free field of view of up to 200.95 degrees and an eye movement accuracy of 0.01 degrees, which lay a foundation for the wide range search and high-precision ranging of the subsequent binocular stereo vision system.

关键词： bionic robot Extraocular muscles Parallel bionic eye mechanism Multi-objective optimization NSGA-II

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Design and Locomotion Analysis of a Retractable Snake-like robot Based on 2-RRU/URR Parallel Module 12th

Design and Locomotion Analysis of a Retractable Snake-like R...

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12th International Conference on Intelligent robotics and Applications (ICIRA)

作者： Bian, Hui Sun, Lanlan Lei, Yunfei Yanshan Univ Parallel Robot & Mechatron Syst Lab Hebei Prov Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Key Lab Adv Forging & Stamping Technol & Sci Minist Educ Qinhuangdao 066004 Hebei Peoples R China

ISBN: (纸本)9783030275266;9783030275259

Snake-like robots have always been the research focus for the unique hyper-redundant structure. The existing snake-like robots can move on complex surfaces, swim in the water, and even climb a tree. However, they cannot pass through a long, narrow hole whose diameter is similar to their own. Even the snakes in nature also face the same problem because of their series physical structure. Inspired by the annelid earthworms and leeches, a new type of retractable snake-like robot based on 2-RRU/URR parallel module is proposed. And its length can be adjusted between 850 mm to 1500 mm because of the translational degree of freedom (DOF) of 2-RRU/URR. Further, typical movement such as serpentine locomotion, traveling wave locomotion and rectilinear locomotion are analyzed and verified by experiments.

关键词： bionic robot Snake-like robot Modular design Locomotion analysis

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