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Building a dense surface map incrementally from semi-dense point cloud and RGB images

Frontiers of Information Technology & Electronic Engineering 2015年第7期16卷 594-606页

作者： Qian-shan LI Rong XIONG Shoudong HUANG Yi-ming HUANG State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China Faculty of Engineering and Information Technology The University of Technology Sydney NSW 2007 Australia ZJU-UTS Joint Center on Robotics Zhejiang University Hangzhou 310027 China Department of Control Science and Engineering Zhejiang University Hangzhou 310027 China

Building and using maps is a fundamental issue for bionic robots in field applications. A dense surface map, which offers rich visual and geometric information, is an ideal representation of the environment for indoor/outdoor localization, navigation, and recognition tasks of these robots. Since most bionic robots can use only small light-weight laser scanners and cameras to acquire semi-dense point cloud and RGB images, we propose a method to generate a consistent and dense surface map from this kind of semi-dense point cloud and RGB images. The method contains two main steps：（1） generate a dense surface for every single scan of point cloud and its corresponding image（s） and （2） incrementally fuse the dense surface of a new scan into the whole map. In step （1） edge-aware resampling is realized by segmenting the scan of a point cloud in advance and resampling each sub-cloud separately. Noine within the scan is reduced and a dense surface is generated. In step （2） the average surface is estimated probabilistically and the non-coincidence of different scans is eliminated. Experiments demonstrate that our method works well in both indoor and outdoor semi-structured environments where there are regularly shaped objects.

关键词： bionic robot robotic mapping Surface fusion

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Hydrodynamic performance of a biomimetic undulating fin robot under different water conditions

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OCEAN ENGINEERING 2023年第Part1期288卷

作者： Shi, Xindong Chen, Zhenhan Zhang, Tangjia Li, Shijie Zeng, Yangbin Chen, Long Hu, Qiao Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China Xi An Jiao Tong Univ Shaanxi Key Lab Intelligent Robots Xian 710049 Peoples R China

Inspired by the agile swimming behavior of the Black Ghost Knife Fish utilizing undulating propulsion in complex aquatic environments, this study investigates the locomotion principles and hydrodynamic performance of an undulating propulsion system under varying hydrodynamic conditions through numerical simulations and experiments. The influence of the fin aspect ratio on the thrust performance of the robot was explored, revealing a linear correlation between the aspect ratio and thrust generation. Furthermore, based on an aspect ratio of 0.3, the effects of frequency, amplitude, and wavenumber on the robot's swimming performance were examined. The results indicated a quadratic relationship between frequency and thrust, a linear relationship between amplitude and thrust, and a trend where thrust initially increased and then decreased with wavenumber, reaching an optimal level around wavenumber 1. Using numerical simulations and experimental investigations, the thrust performance of the robot under wave conditions demonstrated a noticeable reduction in hydrodynamic performance compared to still water conditions. The effects of frequency, amplitude, and wavelength on thrust remained consistent with still water conditions, but the instantaneous thrust became unstable. The current conclusions provide valuable insights for designing and optimizing undulating propulsion robots, offering systematic guidance for selecting appropriate motion parameters to accomplish different tasks.

关键词： bionic robot Numerical simulation Hydrodynamic performance Undulatory propulsion

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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 wrist-inspired suspended tubercle-type tensegrity joint with variable stiffness capacity

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BIOINSPIRATION & BIOMIMETICS 2023年第1期18卷 016010-016010页

作者： Xie, Xiongdun Xiong, Dezhu Wen, James Zhiqing Ji Hua Lab Engn Res Ctr Intelligent Robot Foshan Peoples R China

In complex and unpredictable environments or in situations of human-robot interaction, a soft and flexible robot performs more safely and is more impact resistant compared to a traditional rigid robot. To enable robots to have bionic features (flexibility, compliance and variable stiffness) similar to human joints, structures involving suspended tubercle tensegrity are researched. The suspended tubercle gives the joint compliance and flexibility by isolating two moving parts. The variable stiffness capacity is achieved by changing the internal stress of tensegrity through the simultaneous contraction or relaxation of the driving tendons. A wrist-inspired tensegrity-based bionic joint is proposed as a case study. It has variable stiffness and two rotations with a total of three degrees of freedom. Through theoretical derivation and simulation calculation in the NASA Tensegrity robotToolkit (NTRT) simulator, the range of motion, stiffness adjustable capacity, and their interaction are studied. A prototype is built and tested under a motion capture system. The experimental result agrees well with the theoretical simulation. Our experiments show that the suspended tubercle-type tensegrity is flexible, the stiffness is adjustable and easy to control, and it has great potential for bionic joints.

关键词： bionic robot flexible joint tensegrity tendon driven robot variable stiffness

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Electroadhesion-driven crawling robots based on origami mechanism

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SENSORS AND ACTUATORS A-PHYSICAL 2024年 377卷

作者： Xiang, Chaoqun Sun, Hongsen Wu, Teng Wu, Binglin Guan, Yisheng Zou, Tao Guangzhou Univ Sch Mech & Elect Engn Guangzhou Peoples R China Guangdong Univ Technol Sch Electromech Engn Guangzhou Peoples R China Hohai Univ Jiangsu Prov Key Lab Special Robot Technol Changzhou Peoples R China Guangdong Prov Acad Bldg Res Grp Co Ltd Guangzhou Peoples R China Guangdong Construct Engn Qual & Safety Testing Hea Guangzhou Peoples R China

Soft crawling robots can operate regularly in complicated situations and are more adapted to their surroundings. This study presents a novel electroadhesion(EA)-driven soft crawling robot utilizing an origami mechanism design. This innovative combination significantly enhances the environmental adaptability and performance of soft crawling robots. The integration of electroadhesion provides strong surface adherence, while origami techniques enable flexible and efficient movement. We detail the design principles and manufacturing process, optimizing key parameters such as leg lengths and folding angles to maximize crawling efficiency. Extensive experimentation confirms the superior performance of this approach. This multidisciplinary strategy, combining electrostatics, origami, and robotics, opens new possibilities in soft robotics design, offering robust solutions for complex environments.

关键词： Electroadhesion bionic robot Crawling robots Origami mechanism Inchworm

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MXene-Based Soft Actuators with Multiresponse and Diverse Applications by a Simple Method

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MACROMOLECULAR MATERIALS AND ENGINEERING 2023年第10期308卷 2300200-2300200页

作者： Xu, Mengjie Li, Lin Zhang, Wei Ren, Zhen Liu, Jinquan Qiu, Changwen Chang, Longfei Hu, Ying Wu, Yucheng Hefei Univ Technol Sch Mat Sci & Engn Anhui Prov Key Lab Aerosp Struct Parts Forming Tec Hefei 230009 Peoples R China Key Lab Adv Funct Mat & Devices Anhui Prov Hefei 230009 Peoples R China

Smart actuators that can convert external energy stimuli into mechanical energy output have great potential in industrial, biomedical, and military applications. However, the existed disadvantage such as complex fabrication process, single stimulus source, and the requirement of artificial energy restrict their further development. Herein, a MXene/polyethylene (PE)-based soft actuator with multistimulus response and the ability to be driven by natural sunlight and human humidity is proposed through a simple method. Owing to the excellent electrical conductivity, high photothermal conversion capability, and surface hydrophilicity of MXene, the MXene/PE actuator exhibits rapid and large bending deformation in response to external multistimuli such as light, electricity, heat, and humidity. Owing to the simple preparation, and anisotropic, tailorable and programmable properties of the MXene/PE actuator, a soft robot that can crawl directionally under light conditions is constructed. In addition, based on the high sensitivity response of the actuator to light and humidity, smart clothing that can generate reversible bending deformation under natural sunlight as well as sweat conditions is developed. These results provide a new inspiration for the design of high-performance soft actuators with multistimulus response, and demonstrate the potential applications of the MXene/PE actuators in smart devices, bionic robots, and wearable clothing.

关键词： bionic robot multistimulus response MXene soft actuator wearable application

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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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INFORMATION ACQUISITION IN DESERT ANT NAVIGATION

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International Journal of Information Acquisition 2006年第1期3卷 33-43页

作者： JUN GAO LEI WANG MEI BO ZHIGUO FAN Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui 230031 P. R. China School of Computer and Information Hefei University of Technology Hefei Anhui 230009 P. R. China Department of Mechanical and Electrical Engineering Xiamen University Xiamen Fujian 361005 P. R. China

Desert ant (Cataglyphis) is famous for its ability in navigation. In deserts with very few visual and odor information, the ant can return to its den almost along a straight line after foraging away in a distance of much more than thousands of times longer than its body length. Several kinds of information must be acquired during its trip, and the most important two are: path integration and visual navigation. Path integration is achieved by using sky light compass based on polarized light and odometer, while visual navigation relies on landmark based memory and matching. In this paper, a survey of research work on desert ant navigation from the viewpoint of information acquisition and fusion is presented, as well as the application of these kinds of information to navigate robots, especially bionic robots cruising in strange environment.

关键词： Desert ant (Cataglyphis) information acquisition path integration visual navigation bionic robot

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Experimental and numerical investigations on undulatory motion of a soft-fin-based underwater robot

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JOURNAL OF MECHANICS 2022年第38期38卷 273-283页

作者： Lin, Yu-Chih Zhang, Dai-Nong Natl Taiwan Ocean Univ Dept Mech & Mech Engn Keelung Taiwan

An undulatory fin bionic underwater robot that is able to mimic the undulation motions of the median and/or the paired fin of fish is designed and analyzed. A simplified rays-membrane structure system has been developed in order to save computational cost in finite element analysis. The undulatory motion of the soft fins in the water is experimentally measured by using two cameras and the DLTdv system. The dynamic characteristics of the fin structure and the hydrodynamics of the fluid are analyzed by a fluid-structure interaction model developed by the commercial software ANSYS, and the results are compared to those of the experiment for validation. The fin motion of different fin amplitudes (ray swing angles), membrane dimensions and phase difference of adjacent rays are compared to realize the influence of robot design on the motion. It is found in the results that the displacements of the points on the fin membrane obtained by the finite element analysis have the same trend as those by the experiment;hence, the finite element model is verified. It is indicated by the finite element analysis results that the stress of the points on the fin membrane increases with the amplitude. The maximum velocity in one section plane is largest for the 40 mm width fin. The average stress on the fin with 45 degrees phase difference is larger than that of 90 degrees phase difference. Because of the complexity of the soft fin's material behavior and fluid-structure interaction analysis, the finite element analysis model developed in this study has a significant contribution for the soft-fin-based underwater robot design.

关键词： bionic robot undulation finite-element analysis fluid-structure interaction

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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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