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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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Barometric Soft Tactile Sensor for Depth Independent Contact Localization

Barometric Soft Tactile Sensor for Depth Independent Contact...

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2023 IEEE International Conference on robotics and biomimetics, RObio 2023

作者： Costi, Leone Iida, Fumiya University of Cambridge Bio Inspired Robotics Laboratory Department of Engineering United Kingdom

ISBN: (纸本)9798350325706

Soft tactile sensors are a family of versatile flexible sensors aiming to replicate the sense of touch using skin-like artificial systems, with the primary function of contact localization. Such devices can rely on a multitude of physical principles and structural designs. Most implementations exploit contact-induced changes in electrical or optical resistivity, achieving good performance, but strongly limiting the range of usable materials. On the other hand, solutions relying only on structural design and delocalized sensors have yet to be shown able to achieve the same performance. In this paper, we propose a barometric soft tactile sensor that utilizes a grid of sealed cavities and delocalized barometric sensors to perform contact localization independently from the contact depth. Moreover, since the device's function is not material-specific, we also investigate the role of compliance by testing multiple increasingly softer materials. For each material, we characterize the cavities' sensing field and then collect the data sets to train and test a multi-layer perceptron regressor for contact localization, both with a constant and variable contact depth. The results show that we are able to lower the contact localization mean error down to 2 mm. © 2023 IEEE.

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Construction of laser-induced graphene/silver nanowire composite structures for low-strain,high-sensitivity flexible wearable strain sensors

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Science China(Technological Sciences) 2024年第11期67卷 3524-3534页

作者： YANG PingAn ZHAO JingYuan LI Rui ZHOU ZhiHao GUI YinGang SUN RuiXue WU DeCheng WANG XiaoJie School of Automation Chongqing University of Posts and TelecommunicationsChongqing 400065China College of Engineering and Technology Southwest UniversityChongqing 400715China Bio-inspired Robotics and Intelligent Material Laboratory Institute of Advanced Manufacturing TechnologyHefei Institutes of Physical ScienceChinese Academy of SciencesChangzhou 213164China

Sandwich-structured flexible sensors based on graphene have high sensitivity and *** graphene is combined with a flexible substrate in a sandwich structure,the weak bonding between them compromises the sensor's stability and sensitivity at low *** presents challenges in monitoring subtle physiological activities,such as hand bending and pulse *** this purpose,laser-induced graphene(LIG)is proposed to be used to prepare flexible sensors in order to improve the sensitivity and stability of the sensors at low ***(PDMS)with low modulus and polyimide(PI)with rich carbon content are selected as precursor materials for LIG,and graphene is formed through laser ***,silver nanowires(Ag NWs)solution is added to LIG to give the sensor low strain and high sensitivity *** the PI/PDMS ratio is 1:3,the Ag NWs/LIG flexible strain sensor exhibits excellent sensitivity(GF=778.468)over a small strain range(8.76%-11.25%).Meanwhile,the sensor still shows excellent stability after 2000 cycle *** Ag NWs/LIG flexible strain sensor shows good performance when placed on the back of the hand,around the eyes,*** is demonstrated that Ag NWs/LIG flexible strain sensors have good application potential in human physiological activity monitoring,health management and medical fields,and provide a low-strain,high-sensitivity sensor design strategy for flexible wearable devices.

关键词： flexible strain sensors high sensitivity strain range Ag NWs laser-induced graphene

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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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Barometric Soft Tactile Sensor for Depth Independent Contact Localization

Barometric Soft Tactile Sensor for Depth Independent Contact...

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IEEE International Conference on robotics and biomimetics

作者： Leone Costi Fumiya Iida Department of Engineering Bio Inspired Robotics Laboratory University of Cambridge UK

Soft tactile sensors are a family of versatile flexible sensors aiming to replicate the sense of touch using skin-like artificial systems, with the primary function of contact localization. Such devices can rely on a multitude of physical principles and structural designs. Most implementations exploit contact-induced changes in electrical or optical resistivity, achieving good performance, but strongly limiting the range of usable materials. On the other hand, solutions relying only on structural design and delocalized sensors have yet to be shown able to achieve the same performance. In this paper, we propose a barometric soft tactile sensor that utilizes a grid of sealed cavities and delocalized barometric sensors to perform contact localization independently from the contact depth. Moreover, since the device’s function is not material-specific, we also investigate the role of compliance by testing multiple increasingly softer materials. For each material, we characterize the cavities’ sensing field and then collect the data sets to train and test a multi-layer perceptron regressor for contact localization, both with a constant and variable contact depth. The results show that we are able to lower the contact localization mean error down to 2 mm.

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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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Robust Precision Landing of a Quadrotor with Online Temporal Scaling Adaptation of Dynamic Movement Primitives

Robust Precision Landing of a Quadrotor with Online Temporal...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kongkiat Rothomphiwat Prakarn Jaroonsorn Pakpoom Kriengkomol Poramate Manoonpong Bio-Inspired Robotics and Neural Engineering Laboratory School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology Rayong Thailand AI and Robotics Ventures Company Limited (ARV) Bangkok Thailand Bio-Inspired Robotics and Neural Engineering Laboratory School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology (VISTEC) Rayong Thailand Embodied Artificial Intelligence and Neurorobotics Laboratory SDU Biorobotics the Mærsk Mc-Kinney Møller Institute University of Southern Denmark Odense Denmark Odense Denmark

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this work, we address the challenges of robust precision landing maneuvers for a quadrotor on both stationary and moving ground targets in the presence of disturbances that can cause the quadrotor to deviate from its desired trajectory, leading to maneuver failure. To overcome this, we propose a novel online adaptive trajectory planning approach based on the online temporal scaling adaptation of dynamic movement primitives (DMPs). This adaptation enables the desired trajectory to be dynamically adjusted in response to tracking errors and the goal’s state. Consequently, our proposed approach enhances accuracy, precision, and safety during landing maneuvers. The effectiveness of the approach is evaluated through comprehensive experiments conducted in both physical simulations and real-world environments, covering various disturbance scenarios.

关键词： Adaptation models Accuracy Trajectory planning Tracking Trajectory Safety Intelligent robots Quadrotors

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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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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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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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