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2nd International Conference on the Frontiers of Robotics and Software Engineering, FRSE 2024

作者： Zhi, Yi Shen, Huan Ji, Aihong Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China Jiangsu Key Laboratory of Bionic Materials and Equipment Nanjing210016 China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Nanjing210016 China

ISBN: (纸本)9789819630127

In recent years, bionic micro air vehicles have garnered significant attention. Compared to other insects and birds, dragonflies exhibit unique flight capabilities, making them one of the best bionic prototypes. To better understand the flight characteristics of dragonflies and to delve into their flapping aerodynamics, this study investigates the kinematic parameters of dragonflies during escape flight (climbing) and normal flight (forward flight). Using four synchronously triggered high-speed cameras, the motion of the dragonflies was tracked and captured, followed by system calibration, feature point matching, and 3D reconstruction. Analysis revealed that dragonflies utilize a figure-8 wingtip trajectory during both climbing and forward flight. The intersection of the trajectory occurs near the pronation phase, which helps generate higher lift and thrust. During forward flight, the phase difference between the forewings and hindwings is smaller compared to climbing, with the downstroke occupying approximately 24% more of the flapping cycle during forward flight than climbing. Additionally, the results indicate that dragonflies do not maintain a fixed linear flight path in either state but exhibit periodic changes in the pitch angle. Climbing requires greater pitch angles and variations in pitch angle compared to forward flight to achieve higher lift. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： High speed cameras

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Wheel-legged In-pipe Robot with a Bioinspired Hook and Dry Adhesive Attachment Device

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Journal of Bionic Engineering 2024年第3期21卷 1208-1222页

作者： Yahong Liu Yi Sun Kai Cao Shutao Wu Xiaofeng Xu Qingfei Han Shikun Wen Huan Shen Guangming Chen Jiajun Xu Zhiwei Yu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China

In-pipe robots have been widely used in pipes-with smooth inner ***,current in-pipe robots face challenges in terms of moving past obstacles and climbing in marine-vessel pipeline systems,which are affected by marine biofouling and electrochemical *** paper takes inspiration from the dual-hook structure of Trypoxylus dichotomus’s feet and gecko‑like dry adhesives,proposing an in-pipe robot that is capable of climbing on rough and smooth pipe *** combination of the bioinspired hook and dry adhesives allows the robot to stably attach to rough or smooth pipe inwalls,while the wheel-leg hybrid mechanism provides better conditions for obstacle *** paper explores the attachment and obstacle-surmounting mechanisms of the ***,motion strategies for the robot are devised based on different pipe structural *** experiments showed that this robot can adapt to both smooth and rough pipe environments simultaneously,and its motion performance is superior to conventional driving *** robot’s active turning actuators also enable it to navigate through horizontally or vertically oriented 90°bends.

关键词： In-pipe robot Bioinspired attachment device Wheel-legged robot Mechanical design

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Research on Vessel Segmentation and Extraction Based on 2-D Gabor Features and U-Net

Research on Vessel Segmentation and Extraction Based on 2-D ...

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2022 International Conference on Biomedical and intelligent Systems, IC-BIS 2022

作者： Shi, Mao Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical Engineering Nanjing University of Aeronautics & Astronautics Jiangsu Nanjing China

ISBN: (纸本)9781510660212

This paper proposed a vessel segmentation method based on Gabor features and U-Net. According to the eigenvectors of Hessian matrix of each pixel in the image, the vessel direction of each point was obtained to set the direction of Gabor filter, and the Gabor features of different vessel width at each point were extracted to establish the 6-D vectors of each point. By reducing the dimension of the 6-D vector, the 2-D vector of each point was obtained and fused with the original image G channel. U-Net was used to classify the fused image to segment vessels. The experimental results of this method in DRIVE dataset showed that this method had a good effect on the detection of small vessels and vessels at the intersection. © 2022 SPIE. All rights reserved.

关键词： Gabor filters

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Development of Wheel-Legged Biped robots:A Review

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Journal of Bionic Engineering 2024年第2期21卷 607-634页

作者： Xuefei Liu Yi Sun Shikun Wen Kai Cao Qian Qi Xiaoshu Zhang Huan Shen Guangming Chen Jiajun Xu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged *** robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness ***-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this *** hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are *** summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped ***,this study discusses the key research directions and development trends for the wheel-legged biped robots.

关键词： Wheel-legged biped robot Wheeled motion Legged motion Control strategy

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Design of an Active Flexible Spine for Wall Climbing Robot Using Pneumatic Soft Actuators

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Journal of Bionic Engineering 2023年第2期20卷 530-542页

作者： Guangming Chen Tao Lin Gabriel Lodewijks Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China School of Engineering College of EngineeringScience&EnvironmentUniversity of NewcastleCallaghan CampusUniversity DriveCallaghanNSW2308Australia

Wall climbing robots can be used to undertake missions in many unstructured ***,current wall climbing robots have mobility difficulties such as in the turning or *** of the main reasons for the limitations is the poor flexibility of the *** robotic technology can actively enable structure deformation and stiffness varations,which provides a solution for the design of active flexible *** research utilizes pneumatic soft actuators to design a flexible spine with the abilities of actively bending and twisting by each *** bending and torsion moment equilibriums,respectively,from air pressure to material deformations,the bending and twisting models for a single actuator with respect to different pressure are *** theoretical models are verified by finite-element method simulations and experimental *** addition,the bending and twisiting motions of single joint and whole spine are analytically *** results show that the bionic spine can perform desired deformations in accordance with the applied pressure on specified *** variations of the stiffness are also numerically ***,the effectiveness of the bionic flexible spine for actively producing sequenced motions as biological spine is experimentally *** work demonstrated that the peneumatic spine is potential to improve the spine flexibility of wall climbing robot.

关键词： Active spine Bionic design Soft robot Gecko locomotion Finite-element modeling

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Detachment Behavior of Gecko Toe in Functional Strategies for Bionic Toe

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Journal of Bionic Engineering 2024年第2期21卷 707-717页

作者： Qingfei Han Wei Wang Huan Shen Xincheng Feng Haoran Zhang Qian Li Yi Sun Huapeng Wu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Laboratory of Intelligent Machines School of Energy SystemsLappeenranta-Lahti University of Technology53850LappeenrantaFinland State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their *** setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific *** majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the *** these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this *** specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 ***,it was observed that the toe assumed a"U"-shaped structure upon complete ***,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel *** the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential ***,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also *** our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe *** data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.

关键词： Gecko toes Detachment behavior Finite element analysis Gecko-inspired toe

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Design and Theoretical Research on Aerial-Aquatic Vehicles:A Review

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Journal of Bionic Engineering 2023年第6期20卷 2512-2541页

作者： Yi Sun Xuefei Liu Kai Cao Huan Shen Qian Li Guangming Chen Jiajun Xu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringState Key Laboratory of Mechanics and Control for Aerospace StructuresNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

With the rapid development of unmanned aerial and underwater vehicles,various tasks,such as biodiversity monitoring,surveying,and mapping,as well as,search and rescue can now be completed in a single medium,either underwater or in the *** systematically examining the water–air cross-medium locomotion of organisms,there has been growing interest in the development of aerial-aquatic *** goal of this review is to provide a detailed outline of the design and cross-medium theoretical research of the existing aerial-aquatic vehicles based on the research on the organisms capable of transiting between water and *** these designs and theoretical frameworks have been validated in many aerial-aquatic vehicles,there are still many problems that need to be addressed,such as inflexible underwater motion and unstable medium *** a result,supplementation of the existing cross-medium biomimetic research,vehicle design,power selection,and cross-medium theory is urgently required to optimize the key technologies in ***,by summarizing the existing designs and theoretical approaches on aerial-aquatic vehicles,including biomimetic research on water–air cross-medium locomotion in nature,different power selections,and cross-medium theoretical research,the relative problems and development trends on aerial-aquatic vehicles were thoroughly explored,providing significant help for the subsequent research process.

关键词： Aerial-aquatic vehicle Cross-medium motion Power selection Control theory Biomimetic

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Effect of Dual-Tasks Walking on Human Gait Patterns

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Journal of Bionic Engineering 2022年第4期19卷 991-1002页

作者： Xiyuan Zhang Ke Rong Guangming Chen Aihong Ji Yawei Song Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing 210016China Olympic College Communication University of China NanjingNanjing 211162China Department of Sports Health Sciences Nanjing Sport Institute8 Linggusi RoadNanjing 210014China Centre of Scientific Experiment Nanjing Sport InstituteNanjing 210014China

A human gait pattern conformed to the law of the inverted pendulum and could be described by the movement of its center of mass(COM).A sinusoidal function based on an inverted pendulum was used to plan the COM trajectory of humanoid robots for gait ***,studying the human dual-tasks gait pattern is essential for improving the gait adaptability of humanoid *** well-known humanoid robot prototypes can complete stable walking,running,jumping,and other movements closely mimicking human *** study provides a theoretical reference for the gait planning and design of humanoid robots by comparing differences in the stride time,cadence,step length,step width,stride length,walking speed and COM movement during single-and dual-tasks *** showed no significant difference in the time *** dual-tasks walking,the walking speeds decreased(P=0.001)and the COM sidewise movement increased,indicating an enhancement in the automatic motion rhythm in cognitive *** can easily select new different speeds to better adapt to the competition of attention *** enhance the adaptability of humanoid robots to the COM offset,the independent motion of the hip joint separated from the trunk and lower limbs must be considered in the robot design.

关键词： Gait analysis Kinematics COM trajectory Kinesiology

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Bionic Quadruped Robot for Mars Surface Exploration 11

Bionic Quadruped Robot for Mars Surface Exploration

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11th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2022

作者： Qiao, Long Chen, Guangming Richter, Lutz Ji, Aihong Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics 29 Yudao Street Nanjing210016 China Large Space Structures GmbH Hauptstr. 1e EchingD-85386 Germany

ISBN: (纸本)9781942112532

Mars surface exploration has attracted significant attention of scientists for exploiting new resources and space. To perform explorations on Mars surface, various structures of planetary rovers have been proposed. The Mars surface contains loose granular materials and various sizes of rocks. Traditional wheeled, crawler and legged structures of Mars rovers are mainly designed to walk on granular materials terrain, which are incapable of adapting to rocky surfaces. To improve the adaptations for both granular and rocky surfaces, this paper introduces a quadruped legged robot inspired by the locomotion of desert animal lizard that can walk on granular and rocky surfaces. The main feature is that the structure of the proposed robot possesses bionic multi-toe foot and flexible active spine. To verify the robot locomotion, kinematics on foot, leg and spine of the quadruped robot are anal••yzed. Furthermore, robot motions are analytically predicted with respect to two types of gaits. Combining control framework for adapting to both granular and rocky surfaces, a prototype of Mars robot has been manufactured. Experimental tests demonstrated that the bionic robot can walk on granular surfaces, and can also climb on rocky surface using the multi-joint toe with claw. Therefore, this bionic quadruped robot can have higher adaptability for Mars surface environment. Copyright © 2022 by the International Society for Terrain-Vehicle Systems. All rights reserved.

关键词： Multipurpose robots

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Research on unmanned vehicle obstacle avoidance technology based on LIDAR and depth camera fusion

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Applied Mathematics and Nonlinear Sciences 2024年第1期9卷

作者： Qiu, Hao Chen, Weifeng Ji, Aihong Hu, Kai School of Automation Nanjing University of Information Science & Technology Jiangsu Nanjing210044 China School of Mechanical and Electronic Engineering Quanzhou University of Information Engineering Fujian Quanzhou362000 China Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical & Electrical Engineering Nanjing University of Aeronautics & Astronautics Jiangsu Nanjing210016 China

To address the problems of poor accuracy of traditional EKF algorithm in estimating the position of unmanned vehicles and the deficiencies in accuracy and map completeness of the traditional map building method with single-line LiDAR, this paper proposes a method to create fused raster maps realized with multi-source data. Firstly, the combined data of the inertial measurement unit and wheel encoder are corrected by adding the positional information output from the visual odometer using the error-state SLAM algorithm, and the local raster constructed by LiDAR and depth camera is fused frame by frame using the idea of Bayesian estimation to finally generate the fused global map. Then, a four-wheeled mobile unmanned vehicle with a LiDAR sensor and depth camera is selected as the experimental object, and dynamic environment avoidance simulation experiments are conducted to draw conclusions. The simulation experiment results show that when γ = 5.99, the algorithm generates a new local target point pg2 (17.49,13.49) and the corresponding getaway path and finally guides the unmanned vehicle to the specified target point, verifying that the method in this paper can achieve the avoidance capability of the unmanned vehicle in the process of getting away from the newly emerged obstacles. This study uses the scanned data of LiDAR for the estimation of the real-time position of the unmanned vehicle to realize obstacle avoidance and path planning of the unmanned vehicle. © 2023 Hao Qiu, Weifeng Chen, Aihong Ji and Kai Hu, published by Sciendo.

关键词： Optical radar

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