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GAIT PATTERN INVESTIGATIONS OF bionic PIEZOELECTRIC robot

JOURNAL OF MECHANICS IN MEDICINE AND BIOLOGY 2025年第3期25卷

作者： Lin, Yu-Chih Lin, Xiu-Xian Natl Taiwan Ocean Univ Dept Mech & Mechatron Engn 2 Beining Rd Keelung 20224 Taiwan

The development of micro-robots based on bionic motion has garnered increasing attention with the advancement of bionic technology. These micro-robots can be employed in various tasks, such as military applications, disaster search and rescue, in vivo drug delivery, minimally invasive surgery, and tumor treatment. robot joint motion is commonly achieved through actuators, which encompass motor, hydraulic, or pneumatic components that often carry excessive weight. To achieve the goal of miniaturizing robotic mechanisms, innovative actuators need to be developed. This study focuses on designing a four-limbed micro-robot that utilizes piezoelectric actuators. Automatic Dynamic Analysis of the Mechanical System is employed to investigate the kinematic aspects of the micro-robot's motion, and finite element analysis is also used to obtain the resonant characteristics of the limbs actuated by piezoelectric bimorphs. The results indicate that the gait pattern of a piezoelectric robot changes according to the walking strategy and the robot dimension. The forward travel speed varies depending on the gait pattern, and adjustments in gait design can reduce the up/down oscillation and right/left offset. The robot's travel speed increases with both trunk and limb length, although longer thigh and leg lengths might lead to greater offset and vertical oscillation. The resonant frequency and mode shapes change with the limb structure and affect the limb motion style. By adjusting the driving frequency of the bimorph actuators, the gait pattern can be manipulated. The information presented in this study contributes to a deeper understanding of micro-robot design.

关键词： bionic robot gait analysis piezoelectric bimorph

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Length-Variable bionic Continuum robot with Millimeter-Scale Diameter and Compliant Driving Force

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IEEE-CAA JOURNAL OF AUTOMATICA SINICA 2025年第4期12卷 655-667页

作者： Zhao, Shiying Meng, Qingxin Lai, Xuzhi She, Jinhua Fukushima, Edwardo Fumihiko Wu, Min China Univ Geosci Sch Automat Wuhan 430074 Peoples R China Hubei Key Lab Adv Control & Intelligent Automat Co Wuhan 430074 Peoples R China Minist Educ Engn Res Ctr Intelligent Technol Geoexplorat Wuhan 430074 Peoples R China Tokyo Univ Technol Sch Engn Tokyo 1920982 Japan

Compared with conventional rigid-link robots, bionic continuum robots (CRs) show great potential in unstructured environments because of their adaptivity and continuous deformation ability. However, designing a CR to achieve miniaturization, variable length and compliant driving force remains a challenge. Here, inspired by the earthworm in nature, we report a length-variable bionic CR with millimeter-scale diameter and compliant driving force. The CR consists of two main components: the robot body and soft drives. The robot body is only 6 mm in diameter, and is composed of a backbone and transmission devices. The backbone is divided into three segments, and each segment is capable of adjusting its length and bending like the earthworm. The maximum length variation of the backbone can reach an astonishing 70 mm with a backbone's initial length of 150 mm, and the maximum bending angle of each segment can reach 120 degrees. In addition, we develop soft drives using pneumatic soft actuators (PSAs) as a replacement for the rigid motors typically used in conventional CRs. These soft drives control the motions of the transmission devices, enabling length variation and bending of the backbone. By utilizing these soft drives, we ensure that the robot body has a compliant driving force, which addresses users' concerns about human safety during interactions. In practical applications, we prove that this CR can perform delicate manipulations by successfully completing writing tasks. Additionally, we show its application value for detections and medical treatments by entering the narrow tube and the oral.

关键词： robots Force Polyimides Deformation Motors Bending Pneumatic systems Contracts Steel Muscles bionic robot continuum robots (CRs) robot design soft drive

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Study on bionic robot of EDM hole

Study on bionic robot of EDM hole

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International Conference on Mechanical Transmissions (ICMT 2001)

作者： Liu, YH Yang, Y Univ Petr Dept Electromech Engn Beijing Peoples R China

ISBN: (纸本)7900066144

The bionic robot of electrical discharge machining (EDM) hole is developed using shape memory alloy (SMA) function material and imitating peristalsis principle of earthworm. The robot employs the burrowing principle of mice to achieve EDM hole. It shows simple construction, little volume, and low cost etc than common equipment of EDM hole. The transmission mechanism and peristalsis principle of the robot are discussed. The effects of current and peristalsis step width on the peristalsis velocity of the robot have been investigated.

关键词： bionic robot shape memory alloy electrical discharge machining

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The Research of bionic robot Dynamic Target Tracking System

The Research of Bionic Robot Dynamic Target Tracking System

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2nd International Conference on Functional Manufacturing Technologies

作者： Wang, P. Ye, X. F. Kang, S. C. Xin, J. L. Harbin Engn Univ Coll Automat Harbin 150001 Peoples R China Harbin Univ Sci & Tech Dept Mech & Power Engn Harbin 150080 Peoples R China

ISBN: (纸本)9780878492367

In order to improve the quality of the bionic robot vision tracking, the new automatic tracking algorithm system is proposed in this paper. Based on the completed system hardware design and implementing scheme, the scene noise is removed by adaptive wiener filtering. Through the improved sequential particle filter algorithm, the dynamic target tracking is realized. The experiment result shows that the improved algorithm system still can lock the dynamic target accurately under the condition of that the outer contour of target changing and the partial occlusion existing.

关键词： Vision tracking bionic robot target recognition particle filter

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Kinematic Analysis and Verification of a 6-DOF bionic robot 2

Kinematic Analysis and Verification of a 6-DOF Bionic Robot

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2nd Conference on Fully Actuated System Theory and Applications (CFASTA)

作者： Zhang, Fangfang Yu, Hongyan Wang, Haying Peng, Jinzhu Zhengzhou Univ Sch Elect & Informat Engn Zhengzhou 450001 Peoples R China

ISBN: (纸本)9798350332162

In order to solve the problem of single motion form and poor autonomous operation ability of bionic robot in complex environment, a 6-DOF bionic robot was designed and verified by kinematics simulation. Aiming at the structure of the robot, the theoretical calculation is carried out by MATLAB and the simulation analysis is carried out by ADAMS. According to the simulation results and theoretical calculation results of various actions, the relative error of the displacement variation is no more than 0.07%, and the relative error of the angle variation which proves the correctness of the kinematic modeling with the spinor method. Then, the maximum relative error between the value of each joint variable calculated by algebraic solving methods method and the theoretical given value is 0.0526%, which proves the correctness and effectiveness of the algebraic solving methods. This paper proves that the designed robot can complete a variety of actions with high precision, and also ensures that the designed 6-DOF bionic robot can reach the expected pose, which shows the rationality and high precision of the robot design.

关键词： bionic robot Spinor method Cardon joint Kinematics

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Trajectory planning and optimization of the bionic mantis robot front leg

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2021年第21期235卷 5745-5757页

作者： Chen, Zhiyuan Tu, Qunzhang Zhang, Xiangpo Pan, Ming Jiang, Chengming Huang, Hao Army Engn Univ PLA Field Engn Coll Nanjing 210007 Peoples R China

In this paper, a manipulator of the bionic mantis robot is designed inspired by the anatomical structure of the mantis front leg. A geometrical method is utilized to calculate the forward kinemics. Then, by analyzing the mantis motion video frame by frame, each of the front leg joints angles is measured in crawling and preying motion, which are used as interpolation conditions to solve the planned trajectory for manipulator by cubic spline interpolation. In some circumstance, the planned joint angles may exceed its limitation. By undermining the interpolation conditions, the problem is transformed from solving a cubic spline function to optimization. Finally, particle swarm optimization with variable inertia weight is introduced to optimize the planned trajectory. The result indicates that the trajectory, smoother after optimization could effectively imitate the motion of mantis front leg within the joint rotation range, which lays the basis for further research on the motion control.

关键词： bionic motion cubic spline particle swarm optimization serial manipulator bionic robot

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Design of the swimming system of a bionic jellyfish robot for seabed exploration

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APPLIED OCEAN RESEARCH 2023年第1期134卷

作者： Li, He Wang, Guanzhong Li, Longjie Wei, Minyu Li, Yuanbo Sun, Wei Zeng, Qingliang Shandong Univ Sci & Technol Coll Mech & Elect Engn Qingdao 266590 Peoples R China Shandong Taikai High Voltage Switchgear Co Ltd Tai An 271000 Peoples R China

The unmanned sampling and analysis after return of seabed rocks is an important method for deep-sea mineral resources exploration. A novel underwater robot for ultrasonic drilling and sampling tasks of seabed rocks is proposed based on the bionic design method in this paper. The jellyfish-like structure is adopted for the swimming system of the robot, which can move flexibly and stably with low noise, outstanding cruising ability and strong environmental adaptability. The mechanical system and driving control strategy of the robot are designed in this paper. Based on co-simulation method of ADAMS and MATLAB software, the structural pa-rameters of the transmission mechanism of the swimming system are optimized to get larger swing angle under relative less driving power, which will contribute to the improvement of propulsion efficiency. Through the fluid dynamics simulation and analysis in FLUENT software, the propulsion process can be visualized and the pro-pulsion mechanism is revealed. To verify the feasibility of the design, a robot prototype is developed and the experimental platform for the robot's swimming test is built. The underwater experiments on motion charac-teristics for the robot demonstrates that the maximum propulsive force generated by the swimming system can reach about 16N, and the propulsion speed can reach 0.19m/s. The design and development of the bionic robot for seabed ultrasonic drilling and sampling missions provides new ideas for seabed resource exploration technology.

关键词： Ocean exploration Rock sampling bionic robot Optimize design Fluid simulation

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Design and Control of a Novel bionic Mantis Shrimp robot

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2023年第6期28卷 3376-3385页

作者： Chen, Gang Xu, Yidong Yang, Chenguang Yang, Xin Hu, Huosheng Chai, Xinxue Wang, Donghai Zhejiang Sci Tech Univ Fac Mech Engn & Automat Hangzhou 310018 Peoples R China Univ Essex Sch Comp Sci & Elect Engn Colchester CO4 3SQ Essex England Univ West England Bristol Robot Lab Bristol BS16 1QY Avon England

This article presents the development of a novel bionic robot, which is inspired by agile and fast mantis shrimp in the ocean. The developed bionic mantis shrimp robot has ten rigid-flexible swimming feet (pleopods) for swimming propulsion and a rope-driven spine for its body bending. By studying the motion trajectory of biological mantis shrimp, the kinematic gait planning of the bionic pleopod is completed and the central pattern generator controller of the bionic mantis shrimp robot applicable to the coupled motion of multiple pleopods is proposed. The controller is experimentally verified to effectively simulate the swimming motion of mantis shrimp, which enables the robot to reach a maximum swimming velocity of 0.28 m/s (0.46 body length per second) and a minimum turning radius of 0.36 *** influence of control parameters on the robot's swimming performance is then investigated. Experiments are conducted to show that the oscillation frequency of the bionic pleopod plays a major positive role in the robot's swimming speed. This article has demonstrated the effectiveness of the proposed mechanism design and motion control method for a bionic mantis shrimp robot and laid the foundation for the further exploration of bionic mantis shrimp robots in rugged seabed environments.

关键词： bionic robot central pattern generator (CPG) control gait planning mantis shrimp rigid-flexible pleopod rope-driven

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The Design, Modeling, and Experiment of a Novel Diving-Beetle-Inspired Paddling Propulsion robot

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BIOMIMETICS 2025年第3期10卷 182-182页

作者： Ding, Jiang Li, Jingyu Lan, Tianbo He, Kai Zuo, Qiyang Guangxi Univ Sch Mech Engn Nanning 530004 Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Shenzhen 518055 Peoples R China Shenzhen Key Lab Precis Engn Shenzhen 518055 Peoples R China

bionic paddling robots, as a novel type of underwater robot, demonstrate significant potential in the fields of underwater exploration and development. However, current research on bionic paddling robots primarily focuses on the motion mechanisms of large organisms such as frogs, while the exploration of small and highly agile bionic propulsion robots remains relatively limited. Additionally, existing biomimetic designs often face challenges such as structural complexity and cumbersome control systems, which hinder their practical applications. To address these challenges, this study proposes a novel diving-beetle-inspired paddling robot, drawing inspiration from the low-resistance physiological structure and efficient paddling locomotion of diving beetles. Specifically, a passive bionic swimming foot and a periodic paddling propulsion mechanism were designed based on the leg movement patterns of diving beetles, achieving highly efficient propulsion performance. In the design process, a combination of incomplete gears and torsion springs was employed, significantly reducing the driving frequency of servos and simplifying control complexity. Through dynamic simulations and experimental validation, the robot demonstrated a maximum forward speed of 0.82 BL/s and a turning speed of 18 degrees/s. The results indicate that this design not only significantly improves propulsion efficiency and swimming agility but also provides new design insights and technical references for the development of small bionic underwater robots.

关键词： bionic robot diving beetle paddle propulsion underwater robot propulsion performance

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Motion stability analysis of beaver-like robot

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART M-JOURNAL OF ENGINEERING FOR THE MARITIME ENVIRONMENT 2025年

作者： Chen, Gang Xu, Yidong Wang, Zhenyu Hu, Huosheng Wu, Chuanyu Zhejiang Sci Tech Univ Sch Mech Engn 928 2 St Xiasha Higher Educ Pk Hangzhou 310018 Zhejiang Peoples R China Univ Essex Sch Comp Sci & Elect Engn Colchester England Donghai Lab Zhoushan Zhejiang Peoples R China Zhejiang Marine Intelligent Ship Inst Hangzhou Zhejiang Peoples R China Zhejiang Ocean Univ Zhoushan Zhejiang Peoples R China

A stability index and evaluation method based on couple moment judgment are proposed for the motion stability of beaver-like robot. The index, expressed by the ratio of the recovery torque and external disturbance torque caused by gravity and buoyancy of the beaver-like robot, effectively evaluates the robot's motion stability. The swimming stability index of beaver-like robot is calculated on the basis of Adams-Matlab co-simulation. Through comparative analysis of the indexes calculated in accordance with experimental and simulation data under different gaits, the stability of the robot in the rolling direction is confirmed to be worse under alternating gaits. The stability in the pitching direction is worse under synchronous gaits. Moreover, the increase of the motion amplitude of the propulsion structure (hind legs and tail) reduces the motion stability of the robot. This research can lay the foundation for stability criteria in underwater stable motion control and motion optimization of beaver-like robots.

关键词： Beaver-like robot stability underwater robot bionic robot

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