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Motion Control of bionic robots via Biomimetic Learning

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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A bionic robotic Fish Detection Method by Using YOLOv3 Algorithm

A Bionic Robotic Fish Detection Method by Using YOLOv3 Algor...

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Chinese Automation Congress (CAC)

作者： Chang, Zheng Wang, Ming Wei, Zheng Yu, Junzhi Shandong Jianzhu Univ Sch Informat & Elect Engn Jinan 250101 Peoples R China Peking Univ Coll Engn Dept Mech & Engn Sci Beijing 100871 Peoples R China

ISBN: (纸本)9781728176871

bionic robotic fish has attracted increasing attention due to its potential applications. However, rapid positioning and precise control is a great challenge for the research of bionic robotic fish. In order to realize the bionic robot fish target detection, this paper proposes a bionic robot fish target detection method based on YOLOv3 with global vision. Firstly, the target detection data set of bionic robotic fish was generated and annotated. The data set included 4,074 sample images, including the motion states of robotic fish turning, swimming straight, stationary, and lighting changing. Secondly, The improved K-means clustering method was used to obtain a priori bounding box size suitable for robotic fish. Furthermore, by modifying and testing different internal parameters, a suitable robotic fish target detection model was obtained and tested. The experimental results showed that even in the case of deformation, light changing and water flow fluctuation, accurate detection can still be achieved. It verified the effectiveness of the proposed bionic robot fish target detection method based on YOLOv3.

关键词： robotic fish Target detection YOLO algorithm bionic robot

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Pigeon robot for Navigation Guided by Remote Control:System Construction and Functional Verification

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Journal of bionic Engineering 2021年第1期18卷 184-196页

作者： Zhengyue Zhou Denghui Liu Hong Sun Wenbo Xu Xinmao Tian Xiaoyuan Li Han Cheng Zhenlong Wang School of Life Sciences Zhengzhou UniversityZhengzhou 450001China School of Electrical Engineering Zhengzhou UniversityZhengzhou 450001China School of Physical Education(Main Campus) Zhengzhou UniversityZhengzhou 450001China

Animal robots have outstanding advantages over traditional robots in their own energy supplies,orientation,and natural concealment,delivering significant value in the theories and applications of neural science,national security,and other ***,many animal robots have been fabricated,but researches about the applications of avian robots are still *** this study,we constructed a Pigeon robot System(PRS),optimized the electric stimulation parameters,assessed the electric stimulus of navigation,and evaluated the navigation efficiency in the *** pulse constant current pattern was adapted,and the optimal stimulus parameters of 4 nuclei tested were of amplitude 0.3 mA,5 pulse trains,frequency 25 Hz,5 pulses,and a 25%duty *** ratio of left and right steering behavior response to electric stimulus dorsointermedius ventralis anterior nuclei was 67%and 83%,respectively(mean value 75%).Electrical stimulation efficiency was 0.34-0.68 and path efficiency was 0.72-0.85 among pigeon robot individuals in the open *** electrical stimulation efficiency nor path efficiency differed significantly(P>0.05),suggesting that the navigational PRS performance was not biased in either *** can achieve continuous navigation along simple pathways and provide the necessary application infrastructure and technical reference for the development of animal robot navigation technology.

关键词： pigeon robot bionic robot system construction navigation functional verification

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Motion Planning for a Cable-Driven Lower Limb Rehabilitation robot with Movable Distal Anchor Points

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Journal of bionic Engineering 2023年第4期20卷 1585-1596页

作者： Jinghang Li Keyi Wang Yanzhuo Wang Chao Wang College of Mechanical and Electrical Engineering Harbin Engineering UniversityHarbin150001China

This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points(M-CDLR).The traditional cable-driven parallel robots(CDPRs)control the moving platform by changing the length of cables,M-CDLR can also adjust the position of the distal anchor point when the moving platform *** M-CDLR this article proposed has gait and single-leg training modes,which correspond to the plane and space motion of the moving platform,*** introducing the system structure configuration,the generalized kinematics and dynamics of M-CDLR are *** fully constrained CDPRs can provide more stable rehabilitation training than the under-constrained one but requires more ***,a motion planning method for the movable distal anchor point of M-CDLR is proposed to realize the theoretically fully constrained with fewer *** the expected trajectory of the moving platform is obtained from the motion capture experiment,and the motion planning of M-CDLR under two training modes is *** simulation results verify the effectiveness of the proposed motion planning *** study serves as a basic theoretical study of the structure optimization and control strategy of M-CDLR.

关键词： bionic robot Cable-driven parallel robot(CDPR) Lower limb rehabilitation robot Movable anchor point Motion planning Simulation

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An Efficient Gait-generating Method for Electrical Quadruped robot Based on Humanoid Power Planning Approach

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Journal of bionic Engineering 2021年第6期18卷 1463-1474页

作者： Lelai Zhou Tianfa Li Zaiyang Liu Yibin Li School of Control Science and Engineering Center for RoboticsShandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061China

The research field of legged robots has always relied on the bionic robotic research,especially in locomotion regulating approaches,such as foot trajectory planning,body stability regulating and energy efficiency *** energy consumption and keeping the stability of body are considered as two main characteristics of human *** work devotes to develop an energy-efficient gait control method for electrical quadruped robots with the inspiration of human walking *** on the mechanical power distribution trend,an efficient humanoid power redistribution approach is established for the electrical quadruped *** studying the walking behavior acted by mankind,such as the foot trajectory and change of mechanical power,we believe that the proposed controller which includes the bionic foot movement trajectory and humanoid power redistribution method can be implemented on the electrical quadruped robot *** stability and energy efficiency of the proposed controller are tested by the simulation and the single-leg prototype *** results verify that the humanoid power planning approach can improve the energy efficiency of the electrical quadruped robots.

关键词： bionic robot Mechanical power bionic trajectory Quadruped robot

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Minimum-Time and Minimum-Jerk Gait Planning in Joint Space for Assistive Lower Limb Exoskeleton

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Journal of bionic Engineering 2023年第5期20卷 2164-2178页

作者： Habib Mohamad Sadjaad Ozgoli Fadi Motawej Department of Electrical and Computer Engineering Tarbiat Modares UniversityTehran14117-13116Iran Department of Mechatronics Engineering Tishreen UniversityLattakia0096341Syria

Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking *** gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the ***,it is vital to have a gait planning method in the joint *** this paper,a minimum-time and minimum-jerk planner is proposed for the robot *** do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the *** minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum *** conditions of the joints are determined to secure backward balance and fulfill gait ***,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.

关键词： bionic robot Gait planning Optimization Complete paraplegic Lower limb exoskeleton

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Gait Optimization of a Quadruped robot Using Evolutionary Computation

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Journal of bionic Engineering 2021年第2期18卷 306-318页

作者： Jihoon Kim Dang Xuan Ba Hoyeon Yeom Joonbum Bae Mechanical Engineering Ulsan National Institute of Science and Technology(UNIST)Ulsan 44919South Korea Automatic Control HoChiMinh City University of Technology and Education(HCMUTE)HoChiMinh City 71307Vietnam

Evolutionary Computation(EC)has strengths in terms of computation for gait ***,conventional evolutionary algorithms use typical gait parameters such as step length and swing height,which limit the trajectory deformation for optimization of the foot ***,the quantitative index of fitness convergence is *** this paper,we perform gait optimization of a quadruped robot using foot placement perturbation based on *** proposed algorithm has an atypical solution search range,which is generated by independent manipulation of each placement that forms the foot trajectory.A convergence index is also introduced to prevent premature cessation of *** conventional algorithm and the proposed algorithm are applied to a quadruped robot;walking performances are then compared by gait *** the two algorithms exhibit similar computation rates,the proposed algorithm shows better fitness and a wider search *** evolutionary tendency of the walking trajectory is analyzed using the optimized results,and the findings provide insight into reliable leg trajectory design.

关键词： bionic robot evolutionary computation genetic algorithm gait optimization parameter perturbation convergence index

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Inverse Displacement Analysis of a Hyper-redundant Elephant＇s Trunk robot

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Journal of bionic Engineering 2018年第2期15卷 397-407页

作者： Yongjie Zhao Lei Jin Peng Zhang Jianyuan Li Department of Mechatronics Engineering Shantou University Shantou 515063 China

This paper deals with inverse displacement analysis of a Hyper-redundant Elephant＇s Trunk robot （HRETR）. The HRETR is connected in series with n modules of 3UPS-PRU parallel mechanism where the underline P denotes an active prismatic joint. Based on the idea of differential geometry, backbone curve of the robot is formulated by using a parametric fimction consisting of sub-fimctions and control parameters. A general algorithm for generating a backbone curve and fitting the modules to the backbone curve is proposed. In this way, the inverse displacement analysis of the robot can be carried out by solving the inverse displacement problem of each parallel mechanism module and taking into account the length limits of the links. A HRETR with 6 modules is taken as an example to demonstrate the applicability of the algorithm.

关键词： inverse displacement analysis hyper-redundant bionic robot elephant's trunk robot 3UPS-PRU parallel mechanism backbone curve

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Mechanical Design with Experimental Verification of a Lightweight Exoskeleton Chair

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Journal of bionic Engineering 2021年第2期18卷 319-332页

作者： Zihao Du Zefeng Yan Tiantian Huang Ou Bai Qin Huang Bin Han State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Human Cyber-Physical Systems Laboratory Department of Electrical and Computer EngineeringFlorida International UniversityMiami 33174USA Department of Rehabilitation Medicine Union HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430022China

In this study,a human-chair model was developed as the basis for a wearable-chair design.A prototype chair,HUST-EC,based on the model was fabricated and *** the optimization under the golden divisional method,an optimized simulation of the operating mode with the lowest chair height was implemented.A novel multi-link support structure has been established with parameters optimized using Matlab *** stress analysis of the solid models was conducted to ensure the adequate support from the designed chair for the *** subjects participated in the evaluation experiment,who performed both static tasks and dynamic *** experimental results consisted of subjective evaluation and objective *** experimental data demonstrate that(1)the HUST-EC can effectively reduce the activation level of related muscles at a variety of tasks;(2)the plantar pressure was reduced by 54%–67%;(3)the angle between the upper body and the vertical axis was reduced by 59%–77%;(4)the subjective scores for chair comfortability,portability,and stability were all higher than *** results further revealed that the designed chair can reduce the musculoskeletal burden and may improve work efficiency.

关键词： exoskeleton wearable chair bionic robot mechanism design ergonomics

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Research on Gait Trajectory Planning of Wall-Climbing robot Based on Improved PSO Algorithm

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Journal of bionic Engineering 2024年第4期21卷 1747-1760页

作者： Jian Li Xianlin Shi Peng Liang Yanjun Li Yilin Lv Mingyue Zhong Zezhong Han School of Mechanical and Automotive Engineering Guangxi University of Science and TechnologyLiuzhou545006China

In order to reduce the labor intensity of high-altitude workers and realize the cleaning and maintenance of high-rise building exteriors,this paper proposes a design for a 4-DOF bipedal wall-climbing bionic robot inspired by the inchworm’s *** robot utilizes vacuum adsorption for vertical wall attachment and legged movement for *** enhance the robot’s movement efficiency and reduce wear on the adsorption device,a gait mimicking an inchworm’s movement is planned,and foot trajectory planning is performed using a quintic polynomial *** velocity constraints,foot trajectory optimization is achieved using an improved Particle Swarm Optimization(PSO)algorithm,determining the quintic polynomial function with the best fitness through ***,through comparative experiments,the climbing time of the robot closely matches the simulation results,validating the trajectory planning method’s accuracy.

关键词： bionic robot Wall-climbing robot PSO Gait planning Trajectory planning

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