Biomimetic Intelligence and Robotics最新文献_第5页

Modeling and analysis of hysteresis using the Maxwell-slip model for variable stiffness actuators 利用麦克斯韦-滑动模型对可变刚度致动器的滞后现象进行建模和分析

Biomimetic Intelligence and Robotics Pub Date : 2024-07-03 DOI: 10.1016/j.birob.2024.100171

Huibin Qin , Zefeng Zhang , Zhili Hou , Lina Li , Kai Liu , Shaoping Bai

{"title":"Modeling and analysis of hysteresis using the Maxwell-slip model for variable stiffness actuators","authors":"Huibin Qin , Zefeng Zhang , Zhili Hou , Lina Li , Kai Liu , Shaoping Bai","doi":"10.1016/j.birob.2024.100171","DOIUrl":"10.1016/j.birob.2024.100171","url":null,"abstract":"<div><p>Hysteresis non-linearity in variable stiffness actuators (VSAs) causes significant torque errors and reduces the stability of the actuators, leading to poor human–computer interaction performance. At present, fewer hysteresis compensation models have been developed for compliant drives, so it is necessary to establish a suitable hysteresis model for compliant actuators. In this work, a new model with a combination of the Maxwell-slip model and virtual deformation is proposed and applied to an elbow compliant actuator. The method divides the periodic variation of the actuator into three parts: an ascending phase, a descending phase, and a transition phase. Based on the concept of virtual deformation, the nonlinear hysteresis curve is transformed into a polyline, and the output torque is estimated using the revised Maxwell-slip model. The simulation results are compared with the experimental data. Its torque error is controlled within 0.2Nm, which validates the model. An inverse model is finally established to calculate the deformation deflection angle for hysteresis compensation. The results show that the inverse model has high accuracy, and the deformation deflection is less than 0.15 rad.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100171"},"PeriodicalIF":0.0,"publicationDate":"2024-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000299/pdfft?md5=9a6f8288807117b91343a0884cc8647a&pid=1-s2.0-S2667379724000299-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141714971","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

TWrist: An agile compliant 3-DoF tensegrity joint TWrist：灵活顺应的 3-DoF 张弦关节

Biomimetic Intelligence and Robotics Pub Date : 2024-07-02 DOI: 10.1016/j.birob.2024.100170

Tianyuan Wang, Mark A. Post, Andy M. Tyrrell

{"title":"TWrist: An agile compliant 3-DoF tensegrity joint","authors":"Tianyuan Wang, Mark A. Post, Andy M. Tyrrell","doi":"10.1016/j.birob.2024.100170","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100170","url":null,"abstract":"<div><p>Tensegrity structures, with their unique physical characteristics, hold substantial potential in the field of robotics. However, the very structures that will give tensegrity robots potential advantages over traditional robots also hold long term challenges. Due to the inherent high redundancy of tensegrity structures and the employment of tension elements, tensegrity robots exhibit excellent stability, compliance, and flexibility, although this also results in lower structural deformation efficiency. Existing research has endeavoured to enhance the motion performance of tensegrity robots, exploring diverse approaches such as actuation schemes, structure design, aligned with control algorithms. However, the physical constraints of the elements in such structures and the absence of suitable controllers impede further advancements in the usefulness of tensegrity robots. This paper presents a novel design based on an under constrained transition region design and a tailored control approach based on inverse kinematics, improving the motion performance of the proposed novel tensegrity joint. Through this approach, the tensegrity joint, while preserving the advantages of compliance and flexibility expected from tensegrity structures, offers three degrees of rotational freedom, mirroring the controllability of conventional rigid-body joints. The results demonstrate the capability of tensegrity-based robotic joints to provide flexible actuation under situations demanding high compliance. The integration of structure design with a tailored control approach offers a pioneering model for future development of tensegrity robots, underscoring the practical viability of tensegrity structures in the realm of robotics.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100170"},"PeriodicalIF":0.0,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000287/pdfft?md5=d1f763bdd380614b42855fe58b3171f9&pid=1-s2.0-S2667379724000287-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141607113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

MCRNet: Underwater image enhancement using multi-color space residual network MCRNet：利用多色彩空间残差网络增强水下图像

Biomimetic Intelligence and Robotics Pub Date : 2024-06-17 DOI: 10.1016/j.birob.2024.100169

Ningwei Qin, Junjun Wu, Xilin Liu, Zeqin Lin, Zhifeng Wang

{"title":"MCRNet: Underwater image enhancement using multi-color space residual network","authors":"Ningwei Qin, Junjun Wu, Xilin Liu, Zeqin Lin, Zhifeng Wang","doi":"10.1016/j.birob.2024.100169","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100169","url":null,"abstract":"<div><p>The selective attenuation and scattering of light in underwater environments cause color distortion and contrast reduction in underwater images, which can impede the ever-growing demand for underwater robot operations. To address these issues, we propose a Multi-Color space Residual Network (MCRNet) for underwater image enhancement. Our method takes advantage of the unique features of color representation in the RGB, HSV, and Lab color spaces. By utilizing the distinct feature representations of images in different color spaces, we can highlight and fuse the most informative features of the three color spaces. Our approach employs a self-attention mechanism in the multi-color space feature fusion module. Extensive experiments demonstrate that our method achieves satisfactory results in color correction and contrast improvement of underwater images, particularly in severely degraded scenes. Consequently, our method outperforms state-of-the-art methods in both subjective visual comparison and objective evaluation metrics.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 3","pages":"Article 100169"},"PeriodicalIF":0.0,"publicationDate":"2024-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000275/pdfft?md5=a7c3f3c8ecf6cf11e10066028ca72bca&pid=1-s2.0-S2667379724000275-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141485429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Variable stiffness methods of flexible robots for minimally invasive surgery: A review 用于微创手术的柔性机器人可变刚度方法：综述

Biomimetic Intelligence and Robotics Pub Date : 2024-06-04 DOI: 10.1016/j.birob.2024.100168

Botao Lin, Shuang Song , Jiaole Wang

引用次数: 0

Active shape reconstruction using a novel visuotactile palm sensor 利用新型可视触觉手掌传感器进行主动形状重建

Biomimetic Intelligence and Robotics Pub Date : 2024-06-03 DOI: 10.1016/j.birob.2024.100167

Jingyi Hu , Shaowei Cui , Shuo Wang , Rui Wang , Yu Wang

引用次数: 0

Flexible head-following motion planning for scalable and bendable continuum robots 用于可扩展和可弯曲连续机器人的灵活头部跟随运动规划

Biomimetic Intelligence and Robotics Pub Date : 2024-05-04 DOI: 10.1016/j.birob.2024.100161

Te Li, Guoqing Zhang, Xinyuan Li, Xu Li, Haibo Liu, Yongqing Wang

{"title":"Flexible head-following motion planning for scalable and bendable continuum robots","authors":"Te Li, Guoqing Zhang, Xinyuan Li, Xu Li, Haibo Liu, Yongqing Wang","doi":"10.1016/j.birob.2024.100161","DOIUrl":"10.1016/j.birob.2024.100161","url":null,"abstract":"<div><p>Continuum robots, which are characterized by high length-to-diameter ratios and flexible structures, show great potential for various applications in confined and irregular environments. Due to the combination of motion modes, the existence of multiple solutions, and the presence of complex obstacle constraints, motion planning for these robots is highly challenging. To tackle the challenges of online and flexible operation for continuum robots, we propose a flexible head-following motion planning method that is suitable for scalable and bendable continuum robots. Firstly, we establish a piecewise constant curvature (PCC) kinematic model for scalable and bendable continuum robots. The article proposes an adaptive auxiliary points model and a method for updating key nodes in head-following motion to enhance the precise tracking capability for paths with different curvatures. Additionally, the article integrates the strategy for adjusting the posture of local joints of the robot into the head-following motion planning method, which is beneficial for achieving safe obstacle avoidance in local areas. The article concludes by presenting the results of multiple sets of motion simulation experiments and prototype experiments. The study demonstrates that the algorithm presented in this paper effectively navigates and adjusts posture to avoid obstacles, meeting the real-time demands of online operations. The average time for a single-step solution is <span><math><mrow><mn>4</mn><mo>.</mo><mn>41</mn><mo>×</mo><mn>1</mn><msup><mrow><mn>0</mn></mrow><mrow><mo>−</mo><mn>5</mn></mrow></msup></mrow></math></span> s, and the average tracking accuracy for circular paths is 7.8928 mm.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 2","pages":"Article 100161"},"PeriodicalIF":0.0,"publicationDate":"2024-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000196/pdfft?md5=a4753b1453ab69e8cde78350393945f9&pid=1-s2.0-S2667379724000196-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141054690","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

NP-MBO: A newton predictor-based momentum observer for interaction force estimation of legged robots NP-MBO：基于牛顿预测器的动量观测器，用于估算腿部机器人的相互作用力

Biomimetic Intelligence and Robotics Pub Date : 2024-05-03 DOI: 10.1016/j.birob.2024.100160

Zhengguo Zhu, Weikai Ding, Weiliang Zhu, Daoling Qin, Teng Chen, Xuewen Rong, Guoteng Zhang

{"title":"NP-MBO: A newton predictor-based momentum observer for interaction force estimation of legged robots","authors":"Zhengguo Zhu, Weikai Ding, Weiliang Zhu, Daoling Qin, Teng Chen, Xuewen Rong, Guoteng Zhang","doi":"10.1016/j.birob.2024.100160","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100160","url":null,"abstract":"<div><p>Swift perception of interaction forces is a crucial skill required for legged robots to ensure safe human–robot interaction and dynamic contact management. Proprioceptive-based interactive force is widely applied due to its outstanding cross-platform versatility. In this paper, we present a novel interactive force observer, which possesses superior dynamic tracking performance. We propose a dynamic cutoff frequency configuration method to replace the conventional fixed cutoff frequency setting in the traditional momentum-based observer (MBO). This method achieves a balance between rapid tracking and noise suppression. Moreover, to mitigate the phase lag introduced by the low-pass filtering, we cascaded a Newton Predictor (NP) after MBO, which features simple computation and adaptability. The precision analysis of this method has been presented. We conducted extensive experiments on the point-foot biped robot BRAVER to validate the performance of the proposed algorithm in both simulation and physical prototype.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 2","pages":"Article 100160"},"PeriodicalIF":0.0,"publicationDate":"2024-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000184/pdfft?md5=f5869ab8346de44b6fa2fa3551268ecb&pid=1-s2.0-S2667379724000184-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140918981","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Swimmer with submerged SiO2/Al/LiNbO3 surface acoustic wave propulsion system 带有浸没式 SiO2/Al/LiNbO 3 表面声波推进系统的游泳器

Biomimetic Intelligence and Robotics Pub Date : 2024-04-06 DOI: 10.1016/j.birob.2024.100159

Deqing Kong , Ryo Tanimura , Fang Wang , Kailiang Zhang , Minoru Kuribayashi Kurosawa , Manabu Aoyagi

{"title":"Swimmer with submerged SiO2/Al/LiNbO3 surface acoustic wave propulsion system","authors":"Deqing Kong , Ryo Tanimura , Fang Wang , Kailiang Zhang , Minoru Kuribayashi Kurosawa , Manabu Aoyagi","doi":"10.1016/j.birob.2024.100159","DOIUrl":"10.1016/j.birob.2024.100159","url":null,"abstract":"<div><p>Acoustic propulsion system presents a novel underwater propulsion approach in small scale swimmer. This study introduces a submerged surface acoustic wave (SAW) propulsion system based on the SiO<sub>2</sub>/Al/LiNbO <sub>3</sub> structure. At 19.25 MHz, the SAW propulsion system is proposed and investigated by the propulsion force calculation, PIV measurements and propulsion measurements. 3.3 mN propulsion force is measured at 27.6 V<span><math><msub><mrow></mrow><mrow><mi>p</mi><mi>p</mi></mrow></msub></math></span>. To evaluate the miniature swimmer, the SAW propulsion systems with multiple frequencies are studied. At 2.2 W, the submerged SAW propulsion system at 38.45 MHz demonstrates 0.83 mN/mm<span><math><msup><mrow></mrow><mrow><mn>2</mn></mrow></msup></math></span> propulsion characteristics. At 96.13 MHz and 24 V<span><math><msub><mrow></mrow><mrow><mi>p</mi><mi>p</mi></mrow></msub></math></span>, the movements of miniature swimmer with a fully submerged SAW propulsion system are recorded and analyzed to a maximum of 177 mm/s. Because of miniaturization, high power density, and simple structure, the SAW propulsion system can be expected for some microrobot applications, such as underwater drone, pipeline robot and intravascular robot.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 2","pages":"Article 100159"},"PeriodicalIF":0.0,"publicationDate":"2024-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000172/pdfft?md5=15b90a424624f2a1f3986b3fbba56314&pid=1-s2.0-S2667379724000172-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140783688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Structure design and coordinated motion analysis of bionic crocodile robot 仿生鳄鱼机器人的结构设计和协调运动分析

Biomimetic Intelligence and Robotics Pub Date : 2024-03-20 DOI: 10.1016/j.birob.2024.100157

Jun Wang, Jingya Zheng, Yuhang Zhao, Kai Yang

{"title":"Structure design and coordinated motion analysis of bionic crocodile robot","authors":"Jun Wang, Jingya Zheng, Yuhang Zhao, Kai Yang","doi":"10.1016/j.birob.2024.100157","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100157","url":null,"abstract":"<div><p>Crocodiles, one of the oldest and most resilient species on Earth, have demonstrated remarkable locomotor abilities both on land and in water, evolving over millennia to adapt to diverse environments. In this study, we draw inspiration from crocodiles and design a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk joints. This design is based on comprehensive analysis of the structural and motion characteristics of real crocodiles. The bionic crocodile robot has a problem of limb-torso incoordination during movement. To solve this problem, we used the D-H method for both forward and inverse kinematics analysis of the robot’s legs and spine. Through a series of simulation experiments, we investigated the robot’s motion stability, fault tolerance, and adaptability to environments in two motor patterns: with and without spine and tail movements. The experimental results show that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the extremities. This study not only demonstrates the potential of biomimicry in robotics but also underscores the significance of understanding how nature’s designs can inform and enhance technological innovations.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 2","pages":"Article 100157"},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000159/pdfft?md5=511e843ef956f20f057c079a11a4839a&pid=1-s2.0-S2667379724000159-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140536786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive patient-cooperative compliant control of lower limb rehabilitation robot 下肢康复机器人的自适应患者合作顺应控制

Biomimetic Intelligence and Robotics Pub Date : 2024-03-16 DOI: 10.1016/j.birob.2024.100155

Lingling Chen , Jiabao Huang , Yanglong Wang , Shijie Guo , Mengge Wang , Xin Guo

{"title":"Adaptive patient-cooperative compliant control of lower limb rehabilitation robot","authors":"Lingling Chen , Jiabao Huang , Yanglong Wang , Shijie Guo , Mengge Wang , Xin Guo","doi":"10.1016/j.birob.2024.100155","DOIUrl":"10.1016/j.birob.2024.100155","url":null,"abstract":"<div><p>With the increase in the number of stroke patients, there is a growing demand for rehabilitation training. Robot-assisted training is expected to play a crucial role in meeting this demand. To ensure the safety and comfort of patients during rehabilitation training, it is important to have a patient-cooperative compliant control system for rehabilitation robots. In order to enhance the motion compliance of patients during rehabilitation training, a hierarchical adaptive patient-cooperative compliant control strategy that includes patient-passive exercise and patient-cooperative exercise is proposed. A low-level adaptive backstepping position controller is selected to ensure accurate tracking of the desired trajectory. At the high-level, an adaptive admittance controller is employed to plan the desired trajectory based on the interaction force between the patient and the robot. The results of the patient–robot cooperation experiment on a rehabilitation robot show a significant improvement in tracking trajectory, with a decrease of 76.45% in the dimensionless squared jerk (DSJ) and a decrease of 15.38% in the normalized root mean square deviation (NRMSD) when using the adaptive admittance controller. The proposed adaptive patient-cooperative control strategy effectively enhances the compliance of robot movements, thereby ensuring the safety and comfort of patients during rehabilitation training.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 2","pages":"Article 100155"},"PeriodicalIF":0.0,"publicationDate":"2024-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000135/pdfft?md5=1f5bc58b6d3f1a44be84872ba0ab6946&pid=1-s2.0-S2667379724000135-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140274750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0