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Synergy Between Soft Feet and an Active Tail to Enhance the Climbing Ability of a bio-inspired Climbing Robot

Journal of bionic engineering 2024年第2期21卷 729-739页

作者： Pongsiri Borijindakul Tachadol Suthisomboon Alihong Ji Zhendong Dai Poramate Manoonpong Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Bio-inspired Robotics and Neural Engineering Laboratory School of Information Science and TechnologyVidyasirimedhi Institute of Science and TechnologyRayong21210Thailand

Lizards use the synergy between their feet and tail to climb on slopes and vertical *** use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during *** by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope *** evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope *** robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft *** experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,*** payload capacity depends on the type of terrain and the inclination ***,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a *** approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.

关键词： bio-inspired climbing robots Climbing robots Soft foot Active tail Soft terrain Terrain transitions

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Morphological Adaptation for Speed Control of Pipeline Inspection Gauges: From System Integration to Real-world Demonstration

Morphological Adaptation for Speed Control of Pipeline Inspe...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Suthisomboon, Tachadol Phodapol, Sujet Pairam, Thipawan Phongaksorn, Kitti Asawalertsak, Naris Kriengkomol, Pakpoom Jitnaknan, Tanapoom Janbanjong, Petch Manoonpong, Poramate Bio-Inspired Robotics and Neural Engineering Laboratory School of Information Science and Technology Thailand Thailand Thailand

ISBN: (纸本)9798331531614

This short paper with a video demonstration presents an add-on adaptive speed control module designed for pipeline inspection gauges (PIGs). The module integrates multiple sensors, a rotary valve unit with an actuator, and an embedded controller. The module's speed control is realized by adjusting the valve angle (morphological adaptation), which modulates bypass flow and, subsequently, moving speed. An Extended Kalman Filter (EKF) is utilized for sensor fusion and module speed estimation. Closed-loop Proportional-Derivative (PD) control automatically adjusts the valve angle or adapts the module morphology based on the difference between estimated and desired speeds, ensuring precise speed regulation. The module's performance is evaluated and demonstrated in an industrial pipeline environment under various fluid flow rates. © 2025 IEEE.

关键词： Extended Kalman filters

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Robotic Shoe Packaging Strategies Based on a Single Soft-Gripper System and Extrinsic Resources 8

Robotic Shoe Packaging Strategies Based on a Single Soft-Gri...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Dong, Yi Duan, Jinjun Liu, Yangjun Dai, Zhendong Manoonpong, Poramate Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China School of Information Science & Technology Vidyasirimedhi Institute of Science & Technology Bio-inspired Robotics & Neural Engineering Lab Rayong21210 Thailand

ISBN: (纸本)9798350300178

Packaging is usually a multi-object manipulation task involving objects of different softness and dimensions. The flexibility of paper and the variety of shoe types and states are major challenges for packaging tasks. In this study, we propose a complete solution for a shoe packaging task involving paper, which makes full use of extrinsic resources to improve its efficiency. Firstly, according to the different characteristics of the manipulated objects and task requirements, visual perception is developed to obtain the grasp poses of different objects. Furthermore, paper grasping strategies by exploiting environmental constraints and shoe reorientation method with gravity are proposed, which are necessary for a shoe packaging task. Finally, the complete pipeline for a shoe packaging task is introduced and qualitative and quantitative experiments verify its feasibility and robustness. © 2023 IEEE.

关键词： Packaging

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Modeling the Dynamic Response of a Light-Driven Liquid Crystal Elastomer Fiber/Baffle/Spring-Coupled System

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Journal of Applied Mechanics 2024年第12期91卷 031027页

作者： Rayman, Bradley Jawad, Badih Vejdani, Hamid https://***/04d52ej85Lawrence Technological University Bio-Inspired Robotics and Dynamics (BIRD) Lab Department of Mechanical Robotics and Industrial Engineering Lawrence Technological University Southfield MI 48075 Department of Mechanical Robotics and Industrial Engineering Lawrence Technological University Southfield MI 48075 Bio-Inspired Robotics and Dynamics (BIRD) Lab Department of Mechanical Robotics and Industrial Engineering Lawrence Technological University Southfield MI 48075

In this paper, we presented the design, integration, and experimental verification of a flapping wing apparatus. The purpose for this apparatus is to provide a framework to study the applicability of various types of sensors on flapping wings in the presence of forward speed. This work is inspired by the discoveries of mechanosensory hairs on insect wings that perform like strain-gauge sensors. To design the apparatus, we started by kinematic analysis of a crank-slider mechanism to actuate the wings. After that, we constructed the equations of motion of the entire system to find the proper gear ratio, motor properties, and other geometric dimensions. For the aerodynamic modeling, we used a quasi-steady formulation and presented a closed-form solution for the aerodynamic torque. Then, we explained the integration process and manufacturing of the main parts and presented two prototypes for the apparatus. At the end, we showed the final constructed versions of the apparatus and presented the experimental response and compared them with the simulation.

关键词： Motors Design mechanism design Wings aerodynamics robot design robot kinematics

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A Deep Learning Approach with Uncertainty Estimation to Assess Aboveground biomass Mapping of Tropical Rainforest in Thailand

A Deep Learning Approach with Uncertainty Estimation to Asse...

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2024 IEEE Mediterranean and Middle-East Geoscience and Remote Sensing Symposium, M2GARSS 2024

作者： Sataudom, Nattawach Reangsang, Songphon Navakam, Suwit Manoonpong, Poramate Aobpaet, Anuphao Sunthornhao, Pasuta Yooyen, Natnicha Pongsopon, Mattana Chulinrak, Natthasiree Soontaros, Sasawat Charoensawadpong, Panunya Supavetch, Soravis Varuna Company Limited Bangkok Thailand PTT Public Company Limited Reforestation and Ecology Institute Bangkok Thailand Vidyasirimedhi Institute of Science and Technology Bio-Inspired Robotics and Neural Engineering Rayong Thailand Kasetsart University Faculty of Engineering Department of Civil Engineering Bangkok Thailand Kasetsart University Faculty of Forestry Department of Forest Management Bangkok Thailand

ISBN: (纸本)9798350358582

This study proposes an aboveground biomass (AGB) density model to overcome the limitation of sparse data coverage in Thailand and scale at national level. The model is based on a U-Net convolutional neural network and fuses spaceborne remote sensing data including Sentinel-1, Sentinel-2, and GEDI. Five models were developed using a deep ensemble technique to provide uncertainty estimation, where accuracy was validated using three types of forest inventory data. Tropical rainforests and other forested areas such as perennial crop regions with similar geographical characteristics were evaluated. Results show high uncertainty in the out-of-distribution data areas, with %RRMSE for Pará rubber, mixed deciduous forest, and dry evergreen forest of 17.05, 24.47, and 14.0, respectively. © 2024 IEEE.

关键词： Tropics

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Robotic Shoe Packaging Strategies Based on a Single Soft-Gripper System and Extrinsic Resources

Robotic Shoe Packaging Strategies Based on a Single Soft-Gri...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Yi Dong Jinjun Duan Yangjun Liu Zhendong Dai Poramate Manoonpong Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Bio-inspired Robotics & Neural Engineering Lab School of Information Science & Technology Vidyasirimedhi Institute of Science & Technology Rayong Thailand

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Development of a Multi-Fingered Soft Gripper Digital Twin for Machine Learning-based Underactuated Control

arXiv

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arXiv 2025年

作者： Yang, Wu-Te Lin, Pei-Chun University of California Berkeley United States Department of Mechanical Engineering National Taiwan University Bio-inspired Robotics Lab Taipei Taiwan

Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is fewer than the degrees of freedom. This research aims to develop a digital twin for multi-fingered soft grippers to advance the development of underactuation algorithms. The digital twin is designed to capture key effects observed in soft robots, such as nonlinearity, hysteresis, uncertainty, and time-varying phenomena, ensuring it closely replicates the behavior of a real-world soft gripper. Uncertainty is simulated using the Monte Carlo method. With the digital twin, a Q-learning algorithm is preliminarily applied to identify the optimal motion speed that minimizes uncertainty caused by the soft robots. Underactuated motions are successfully simulated within this environment. This digital twin paves the way for advanced machine learning algorithm training. © 2025, CC BY-NC-ND.

关键词： Degrees of freedom (mechanics)

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Human-Robot Cooperative Piano Playing with Learning-Based Real-Time Music Accompaniment

arXiv

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arXiv 2024年

作者： Wang, Huijiang Zhang, Xiaoping Iida, Fumiya Bio-Inspired Robotics Lab Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

Recent advances in machine learning have paved the way for the development of musical and entertainment robots. However, human-robot cooperative instrument playing remains a challenge, particularly due to the intricate motor coordination and temporal synchronization. In this paper, we propose a theoretical framework for human-robot cooperative piano playing based on non-verbal cues. First, we present a music improvisation model that employs a recurrent neural network (RNN) to predict appropriate chord progressions based on the human’s melodic input. Second, we propose a behavior-adaptive controller to facilitate seamless temporal synchronization, allowing the cobot to generate harmonious acoustics. The collaboration takes into account the bidirectional information flow between the human and robot. We have developed an entropy-based system to assess the quality of cooperation by analyzing the impact of different communication modalities during human-robot collaboration. Experiments demonstrate that our RNN-based improvisation can achieve a 93% accuracy rate. Meanwhile, with the MPC adaptive controller, the robot could respond to the human teammate in homophony performances with real-time accompaniment. Our designed framework has been validated to be effective in allowing humans and robots to work collaboratively in the artistic piano-playing task. © 2024, CC BY.

关键词： Recurrent neural networks

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Embodied Manipulation with Past and Future Morphologies through an Open Parametric Hand Design

arXiv

引用

arXiv 2024年

作者： Gilday, Kieran Sirithunge, Chapa Iida, Fumiya Hughes, Josie CREATE Lab Department of Mechanical Engineering Swiss Federal Institute of Technology Lausanne Switzerland Bio-Inspired Robotics Lab Department of Engineering University of Cambridge United Kingdom

A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide range of alternative hand and actuation designs. Understanding the morphological design space and the resulting emergent behaviors can not only aid our understanding of dexterous manipulation and its evolution, but also assist design optimization, achieving, and eventually surpassing human capabilities. Exploration of hand embodiment has to date been limited by inaccessibility of customizable hands in the real-world, and by the reality gap in simulation of complex interactions. We introduce an open parametric design which integrates techniques for simplified customization, fabrication, and control with design features to maximize behavioral diversity. Non-linear rolling joints, anatomical tendon routing, and a low degree-of-freedom, modulating, actuation system, enable rapid production of single-piece 3D printable hands without compromising dexterous behaviors. To demonstrate this, we evaluated the design’s low-level behavior range and stability, showing variable stiffness over two orders of magnitude. Additionally, we fabricated three hand designs: human, mirrored human with two thumbs, and aye-aye hands. Manipulation tests evaluate the variation in each hand’s proficiency at handling diverse objects, and demonstrate emergent behaviors unique to each design. Overall, we shed light on new possible designs for robotic hands, provide a design space to compare and contrast different hand morphologies and structures, and share a practical and open-source design for exploring embodied manipulation. © 2024, CC BY-NC-SA.

关键词： Degrees of freedom (mechanics)

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Morphological Adaptation for Speed Control of Pipeline Inspection Gauges: From System Integration to Real-world Demonstration

Morphological Adaptation for Speed Control of Pipeline Inspe...

引用

IEEE/SICE International Symposium on System Integration

作者： Tachadol Suthisomboon Sujet Phodapol Thipawan Pairam Kitti Phongaksorn Naris Asawalertsak Pakpoom Kriengkomol Tanapoom Jitnaknan Petch Janbanjong Poramate Manoonpong Bio-Inspired Robotics and Neural Engineering Laboratory School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology (VISTEC) Thailand AI and Robotics Ventures Company Limited (ARV) Thailand PTT Exploration and Production Public Company Limited (PTTEP) Thailand

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

This short paper with a video demonstration presents an add-on adaptive speed control module designed for pipeline inspection gauges (PIGs). The module integrates multiple sensors, a rotary valve unit with an actuator, and an embedded controller. The module’s speed control is realized by adjusting the valve angle (morphological adaptation), which modulates bypass flow and, subsequently, moving speed. An Extended Kalman Filter (EKF) is utilized for sensor fusion and module speed estimation. Closed-loop Proportional-Derivative (PD) control automatically adjusts the valve angle or adapts the module morphology based on the difference between estimated and desired speeds, ensuring precise speed regulation. The module’s performance is evaluated and demonstrated in an industrial pipeline environment under various fluid flow rates.

关键词： Service robots Pipelines Velocity control Morphology System integration Inspection Valves Robot sensing systems Sensors State estimation

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