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Ionic Electroactive Polymers Used in bionic robots： A Review

Journal of bionic Engineering 2018年第5期15卷 765-782页

作者： Longfei Chang Yanfa Liu Qian Yang Linfeng Yu Jiaqin Liu Zicai Zhu Pin Lu Yucheng Wu Ying Hu Institute of Industry and Equipment Technology Hefei University of Technology Hefei 230009 China School of Materials Science and Engineering Hefei University of Technology Hefei 230009 China School of Mechanical Engineering Xi' an Jiaotong University Xi' an 710049 China Key Laboratory of Advanced Functional Materials and Devices of Anhui Province Hefei University of Technology Hefei 230009 China

Ionic electroactive polymers （IEAPs） are a category of intelligent soft materials exhibiting large displacement under electric excitation, based on inner ion or solvent transport. Due to their unique advantages such as flexibility, low driving voltage, large bending displacement and aquatic-environment adaptability, IEAPs have been documented as very promising actuators for the applications in bionic robots. This review presents an analysis to the current research status of IEAPs exploited in bionic robots. According to the specific bionic parts, those robots are divided into four classes： imitation of fins, limbs, joints and trunks. Their dimension, weight, voltage amplitude, frequency and maximum speed were summarized to show the optimum design range. The results show that the approach velocity of the current robots were higher （〉 35 mm· s-1） when the robot weighted 60 g - 180 g and the body was 90 mm - 130 mm long. For voltage from 1 V - 3 V and frequencies from 0.7 Hz - 1.2 Hz, the speed was relatively higher （〉 35 mm·s-1）.To some extent, the maximum speed decreases when the area of the IEAP material used in bionic robot increases. For underwater circumstances, IEAP materials are most suitable for designing bionic robots swimming with Body and/or Caudal Fin （BCF）. This review provides important guidance for the design of lEAP bionic robots.

关键词： quadruped locomote ionic electroactive polymer bionic robots soft actuator

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Flexible Photodriven Actuator Based on Gradient-Paraffin-Wax-Filled Ti₃C₂T_x MXene Film for bionic robots

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ACS NANO 2021年第8期15卷 12826-12835页

作者： Xiao, Xiao Ma, He Zhang, Xinping Beijing Univ Technol Fac Sci Beijing 100124 Peoples R China

Due to their high flexibility and adaptability, bionic robots have great potential in applications such as healthcare, rescue, and surveillance. The flexible actuator is an essential component of the bionic robot and determines its performance. Even though much progress has been achieved in bionic robot research, there still exists a great challenge in preparing a flexible actuator with a large stroke, high sensitivity, fast response, low triggering power, and long lifetime. This study presents a flexible actuator based on a paraffin wax and Ti3C2Tx MXene (PW-MX) film composite. Such a flexible actuator delivers an excellent actuation performance, including a large curvature change (2.2 x 10(2) m(-1)), high thermal sensitivity (4.6 m(-1)/degrees C), low triggering power of light (76 mW/cm(2)), wavelength selectivity, fast response (0.38 s), and long lifetime (>20000 cycles). Due to the high thermal sensitivity and the strong infrared absorption of the PW-MX film, crawling motion of an inchworm robot based on PW-MX film can be triggered by infrared irradiation from the human finger. To mimic living organisms with bioluminescence, we prepared a PW-MX actuator with green fluorescence by doping PW-MX film with CdSe/ZnS quantum dots. The integration of luminescent function enables the PW-MX actuator to deliver information under light stimulation and to camouflage under a background of green foliage actively. With its merits of ease of fabrication and high actuation performance, the flexible PW-MX actuator is expected to lend itself to more applications in the future.

关键词： MXene paraffin wax flexible actuator phase transition bionic robots camouflage information delivery

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A New Unified Frame and System of bionic Variable Structure robots: Design and Applications 17th

A New Unified Frame and System of Bionic Variable Structure ...

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17th International Conference on Intelligent Robotics and Applications

作者： Wang, Hai Lou, Huanhuan Men, Song Wang, Baoliang Xu, Bocheng Wu, Qingxiang Su, Yuanhao Liu, Huawang Sun, Ning Nankai Univ Coll Artificial Intelligence Inst Robot & Automat Informat Syst Tianjin 300350 Peoples R China Nankai Univ Shenzhen Res Inst Inst Intelligence Technol & Robot Syst Shenzhen 518083 Peoples R China Inspur Yunzhou Ind Internet Co Ltd Jinan 250101 Peoples R China Shandong Special Equipment Inspect & Res Inst Co Jinan 250000 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

robots have been applied in various industries. Nonetheless, conventional robots have difficulties coping with challenges from complex environments and limited spaces. In this paper, a new unified frame and system are designed to provide effective solutions for the technology and system development of bionic variable structure robots (BVSRs). Specifically, we design a complete communication architecture to measure data, feedback information, and send and receive commands between various hardware. Additionally, BVSRs are controlled by the commands from Raspberry Pi, Arduino, and a flight controller based on measured data. Finally, the designed frame and system are applied to two types of BVSRs, including terrestrial-aerial amphibious robots (TAARs) and bionic variable structure UAVs (BVS-UAVs). Experimental results demonstrate that the designed BVSRs achieve stable control in variable modes.

关键词： System frame Variable structure bionic robots

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A Star-Nose-Inspired bionic Soft Robot for Nonvisual Spatial Detection and Reconstruction

ADVANCED INTELLIGENT SYSTEMS

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ADVANCED INTELLIGENT SYSTEMS 2025年第1期7卷

作者： Shan, Qiwei Cao, Yunqi Chi, Haozhen Fan, Shuyu Zhu, Ziying Hou, Dibo Zhejiang Univ Coll Control Sci & Engn Hangzhou 310027 Peoples R China

The star-nosed mole is recognized as a tactilely sensitive mammal due to its unique nose, which facilitates spatial detection in dark environments through touch using its appendages enveloped in numerous sensory receptors. This article introduces a bionic soft robot inspired by the star-nosed mole, which combines a pneumatic soft platform with a polydimethylsiloxane-polyethylene terephthalate cylindrical tactile sensor array based on bilayer single-electrode triboelectric nanogenerators, mimicking the muscle tissue of the mole's nose and the cylindrical appendages surrounded by Eimer's organs. The cylindrical sensor array enables multiangle spatial detection without an external power supply and remains unaffected by external materials. By implementing a constant curvature model for robot motion control, positional information is provided for the contact points between the cylindrical sensor array and the external environment. The robot effectively discriminates the distance and shape of various objects and achieves nonvisual 3D spatial detection and reconstruction in real-world scenarios. This work presents a novel bionic approach for 3D spatial detection in nonvisual environments.

关键词： bionic robots environmental detection flexible sensor arrays pneumatic actuators triboelectric nanogenerators

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A Soft Amphibious Robot with Buoyancy Control and Underwater Manipulation Capabilities 17th

A Soft Amphibious Robot with Buoyancy Control and Underwater...

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17th International Conference on Intelligent Robotics and Applications

作者： Yang, Yang Zheng, Haozhe Xie, Yuan Jiang, Pei Li, Yingtian Nanjing Univ Informat Sci & Technol NUIST Sch Automat Nanjing 210044 Peoples R China NUIST Jiangsu Prov Engn Res Ctr Intelligent Meteorol Ex Nanjing 210044 Peoples R China Chongqing Univ State Key Lab Mech Transmiss Adv Equipment Chongqing Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Shenzhen Peoples R China

ISBN: (纸本)9789819607945;9789819607952

Underwater equipment is critical for environmental applications. Conventional rigid underwater manipulators require considerable size and weight, hindering the application of underwater operations. Origami actuators have proven to be an effective technique and have been used in many applications. In this work, I propose a bionic soft amphibious robot based on a Z-shaped actuator and a twisted tower actuator. The soft robot can be fabricated by 3D printing technology and has a simple structure for easy operation. Two different types of programmable origami actuators are designed and fabricated, i.e., Z-shaped actuator and torsion tower actuator. Z-shaped actuator is used for the rear leg which enables the movement of the frog. Meanwhile, the torsion tower shaped actuator is used for the front legs to rotate the joints and movement on land. We designed a novel hybrid structure (rigid frame + soft actuator) gripper using the Z-shaped actuator to improve the gripping performance. And we use bellows to make the buoyancy unit of the soft robot. The origami actuators and were tested through a series of experiments, which showed that the robot was able to efficiently move and perform grasping maneuvers in water and on land. Our results demonstrate the effectiveness of these actuators in generating the desired motions and provide insight into the potential of applying 3D printed origami actuators to develop soft robots with bionic capabilities.

关键词： Soft Body robots Origami Actuators Underwater Manipulation bionic robots Amphibious Locomotion

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Hydrogel and Machine Learning for Soft robots’ Sensing and Signal Processing: A Review

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Journal of bionic Engineering 2023年第3期20卷 845-857页

作者： Shuyu Wang Zhaojia Sun Department of Control Engineering Northeastern UniversityQinhuangdao066001China Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology Qinhuangdao066004China

The soft robotics field is on the rise. The highly adaptive robots provide the opportunity to bridge the gap between machines and people. However, their elastomeric nature poses significant challenges to the perception, control, and signal processing. Hydrogels and machine learning provide promising solutions to the problems above. This review aims to summarize this recent trend by first assessing the current hydrogel-based sensing and actuation methods applied to soft robots. We outlined the mechanisms of perception in response to various external stimuli. Next, recent achievements of machine learning for soft robots’ sensing data processing and optimization are evaluated. Here we list the strategies for implementing machine learning models from the perspective of applications. Last, we discuss the challenges and future opportunities in perception data processing and soft robots’ high level tasks.

关键词： Soft robots bionic robots Machine learning Hydrogel sensors Deep learning

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A novel bionic mantis shrimp robot for tracking underwater moving objects

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SHIPS AND OFFSHORE STRUCTURES 2024年

作者： Chen, Gang Xu, Yidong Tu, Jiajun Yang, Xin Hu, Huosheng Dong, Fei Zhang, Jingjing Shi, Jianwei Zhejiang Sci Tech Univ Sch Mech Engn Hangzhou 310018 Peoples R China Univ Essex Sch Comp Sci & Elect Engn Colchester CO4 3SQ England Jiaxing Vocat & Tech Coll Fac Intelligent Mfg Jiaxing Peoples R China Zhejiang Chengshi Robot Co Ltd Jiaxing Peoples R China Zhejiang CathayBot Technol Co Ltd Jinhua Peoples R China

Inspired by the agility of mantis shrimp, this paper presents the development of a novel bionic mantis shrimp robot with multiple pleopods coupled motion for underwater target recognition and tracking. Firstly, the novel bionic robot is constructed based on the inspiration from biological mantis shrimp. Secondly, a Kalman filter-based algorithm, namely MobileNet-YOLO (KMY), is created to collect datasets and train neural networks. Thirdly, a moving target following system is developed for the bionic mantis shrimp robot, in which a dual PID controller is used to track underwater moving targets. The real robot testing results show that the proposed control system can enable our bionic robot to follow a specific moving target in a narrow pool (2m x 1m x 1m), and the minimum turning radius can be up to 0.55m when the angle between the robot's initial motion and the motion of target is 90 degrees.

关键词： Underwater target sensing underwater target following control bionic mantis shrimp robot bionic robots underwater robot

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Dynamic modeling and experimental analysis of a novel bionic mantis shrimp robot

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JOURNAL OF FIELD ROBOTICS 2024年第2期42卷 493-509页

作者： Chen, Gang Xu, Yidong Yang, Chenguang Yang, Xin Hu, Huosheng Dong, Fei Zhang, Jingjing Shi, Jianwei Zhejiang Sci Tech Univ Sch Mech Engn Hangzhou 310018 Peoples R China Univ Essex Sch Comp Sci & Elect Engn Colchester England Univ Liverpool Dept Comp Sci Liverpool L693BX England Zhejiang Chengshi Robot Co Ltd Jiaxing Peoples R China Zhejiang CathayBot Technol Co Ltd Jinhua Peoples R China

Small carnivorous marine animals have developed agile movement abilities through long-term natural selection, resulting in excellent maneuverability and high swimming efficiency, making them ideal models for underwater robots. To meet the requirements for exploring narrow underwater zones, this paper designs an underwater robot inspired by mantis shrimp. By analyzing the body structure and swimming mode of the mantis shrimp, we designed a robot structure and hardware system and established a dynamic model for the coupled motion of multiple pleopods. A series of underwater experiments were conducted to verify the dynamic model and assess the performance of the prototype. The experimental results confirmed the accuracy of the dynamic model and demonstrated that the bionic mantis shrimp robot can perform multiangle turns and flexible velocity adjustments and exhibits good motion performance. This approach provides a novel solution for developing robots suitable for detecting complex underwater environments.

关键词： bionic robots dynamic modeling mantis shrimp multipleopod coupled motion underwater exploration underwater robots

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Magnetically Driven bionic Millirobots with a Low-Delay Automated Actuation System for Bioparticles Manipulation

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MICROMACHINES 2020年第2期11卷 231-231页

作者： Bai, Xue Chen, Dixiao Zhang, Wei Ossian, Heulin Chen, Yuanyuan Feng, Yanmin Feng, Lin Arai, Fumihito Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China Beihang Univ Beijing Adv Innovat Ctr Biomed Engn Beijing 100083 Peoples R China Nagoya Univ Dept Micronano Mech Sci & Engn Nagoya Aichi 4640814 Japan

This paper presents a semi-automatic actuation system which can achieve bio-particles tracking, transportation, and high-precision motion control of robots in a microfluidic chip. This system is mainly applied in magnetically driven robots. An innovative manta ray-like robot was designed to increase stability of robots in a non-contaminated manipulation environment. A multilayer piezo actuator was applied to generate high-frequency vibration to decrease the friction between robots and the glass substrate. We also set up a user-friendly GUI (Graphical User Interface) and realized robot tracking and predetermined trajectory motion through excellent algorithms using Python and C++. In biotechnology, precise transportation of cells is used for the enucleation, microinjection, and investigation of the characteristics of a single cell. Being optimized, the parameters of the robot can effectively reach 10 mu m in actuation precision and a maximum actuation speed of 200 mm/s.

关键词： bionic robots cell manipulation magnetic control

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Inverse dynamic modeling and analysis of a new caterpillar robotic mechanism by Kane's method

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ROBOTICA 2013年第3期31卷 493-501页

作者： Wei, Hong-Xing Wang, Tian-Miao Liu, Miao Xiao, Jiang-Yang Li, Yong-Dong Beijing Univ Aeronaut & Astronaut Sch Mech Engn & Automat Beijing 100191 Peoples R China Chinese Acad Sci Shanghai Inst Microsyst & Informat Technol Shanghai 200050 Peoples R China Acad Armored Force Engn Grad Dept Beijing 100072 Peoples R China

bionic engineering has been a focus in the field of robotic researches. Inverse dynamic analysis is significant for the determination of dynamic parameters of bionic robots. The present paper uses a newly developed robot modular named Sambot to construct a caterpillar robotic mechanism, and designs a gait of trapezoidal wave locomotion for it. Two open-link models are put forth to simulate the dynamic behavior of such a locomotion. The inverse dynamic differential equations are derived by Kane's method and are then solved numerically by the Runge-Kutta method of the fourth order. Based on the numerical solutions of these differential equations, the applied joint torques required to produce the harmonic trapezoidal wave locomotion are determined finally, providing us important information on the gait control of the caterpillar robotic mechanism. Finally, the theoretical values of the joint torques are applied onto the present caterpillar mechanism to perform a locomotion experiment, which verifies the effectiveness of the present dynamics analysis.

关键词： Caterpillar mechanism bionic robots Inverse dynamic analysis Kane's method

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