Biomimetic Intelligence and Robotics最新文献_第5页

Wheeled-legged robots for multi-terrain locomotion in plateau environments 高原环境中多地形运动的轮腿机器人

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-09-01 Epub Date: 2025-08-13 DOI: 10.1016/j.birob.2025.100256

Kang Wang , Jinmian Hou , Shichao Zhou , Dachuang Wei , Wei Xu , Yulin Wang , Hui Chai , Lingkun Chen , Qiuguo Zhu , Liang Gao , Min Guo , Guoteng Zhang , Zhongqu Xie , Tuo Liu , Mingyue Zhu , Yueming Wang , Tong Yan , Jingsong Gao , Meng Hong , Weikai Ding

{"title":"Wheeled-legged robots for multi-terrain locomotion in plateau environments","authors":"Kang Wang , Jinmian Hou , Shichao Zhou , Dachuang Wei , Wei Xu , Yulin Wang , Hui Chai , Lingkun Chen , Qiuguo Zhu , Liang Gao , Min Guo , Guoteng Zhang , Zhongqu Xie , Tuo Liu , Mingyue Zhu , Yueming Wang , Tong Yan , Jingsong Gao , Meng Hong , Weikai Ding","doi":"10.1016/j.birob.2025.100256","DOIUrl":"10.1016/j.birob.2025.100256","url":null,"abstract":"<div><div>Wheeled-legged robots integrate the mobility efficiency of wheeled platforms with the terrain adaptability of legged robots, making them ideal for complex, unstructured environments. However, balancing high payload capacity with agile multimodal locomotion remains a major challenge. This paper presents a field study conducted in the high-altitude region of Golmud, Qinghai, with elevations ranging from 2800 m to 4000 m. We evaluate three wheeled-legged robot platforms of different scales on diverse terrains including Gobi, desert, grassland, and wetlands. Our experiments demonstrate the robot’s robust locomotion performance across multimodal tasks such as obstacle crossing, slope climbing, and terrain classification. Moreover, we validate the performance of autonomous perception systems, including real-time localization and 3D mapping, under harsh plateau conditions. The results provide valuable insights into the deployment of wheeled-legged robots in extreme natural environments and lay a solid foundation for future applications in inspection, rescue, and transport missions in high-altitude regions.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 3","pages":"Article 100256"},"PeriodicalIF":5.4,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144886433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Kirigami analogies for parallelogram-based remote-center-of-motion mechanisms 基于平行四边形的远程运动中心机制的Kirigami类比

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-09-01 Epub Date: 2025-07-18 DOI: 10.1016/j.birob.2025.100251

Bok Seng Yeow , Alex Wang , Chin-Hsing Kuo , Hongliang Ren

{"title":"Kirigami analogies for parallelogram-based remote-center-of-motion mechanisms","authors":"Bok Seng Yeow , Alex Wang , Chin-Hsing Kuo , Hongliang Ren","doi":"10.1016/j.birob.2025.100251","DOIUrl":"10.1016/j.birob.2025.100251","url":null,"abstract":"<div><div>This paper presents a framework for applying origami-kirigami techniques to design kirigami analogies for remote center-of-motion (RCM) mechanisms, specifically targeting minimally invasive keyhole procedures. The proposed kirigami RCM analogs emulate the motions of existing bar-linkage RCMs, offering advantages in deployability, transportability, and simplified fabrication. A workflow is introduced to transition from initial crease patterns to functional kirigami equivalents, demonstrating the potential for customizability and scalability. Furthermore, a proof-of-concept kirigami RCM under magnetic actuation is presented, showcasing its ability to reduce structural profile during transportation and improve device deployment. Three representative parallelogram-based RCM mechanisms: coupled dual parallelogram, back-drivable, and triple parallelogram, are transformed into kirigami analogs, highlighting the versatility of the design approach. The discussion includes computational modeling, fabrication considerations, and potential applications in MIS robots. This work contributes to the development of compact, deployable, and cost-effective RCM mechanisms for robotic keyhole procedures. This approach can also further facilitate the education of RCM mechanisms and the hands-on demonstration of small-scale RCM concepts.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 3","pages":"Article 100251"},"PeriodicalIF":5.4,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144886432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Hierarchical reinforcement learning for enhancing stability and adaptability of hexapod robots in complex terrains 层次强化学习提高六足机器人在复杂地形中的稳定性和适应性

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-09-01 Epub Date: 2025-03-27 DOI: 10.1016/j.birob.2025.100231

Shichang Huang , Zhihan Xiao , Minhua Zheng , Wen Shi

{"title":"Hierarchical reinforcement learning for enhancing stability and adaptability of hexapod robots in complex terrains","authors":"Shichang Huang , Zhihan Xiao , Minhua Zheng , Wen Shi","doi":"10.1016/j.birob.2025.100231","DOIUrl":"10.1016/j.birob.2025.100231","url":null,"abstract":"<div><div>In the field of hexapod robot control, the application of central pattern generators (CPG) and deep reinforcement learning (DRL) is becoming increasingly common. Compared to traditional control methods that rely on dynamic models, both the CPG and the end-to-end DRL approaches significantly simplify the complexity of designing control models. However, relying solely on DRL for control also has its drawbacks, such as slow convergence speed and low exploration efficiency. Moreover, although the CPG can produce rhythmic gaits, its control strategy is relatively singular, limiting the robot’s ability to adapt to complex terrains. To overcome these limitations, this study proposes a three-layer DRL control architecture. The high-level reinforcement learning controller is responsible for learning the parameters of the middle-level CPG and the low-level mapping functions, while the middle and low level controllers coordinate the joint movements within and between legs. By integrating the learning capabilities of DRL with the gait generation characteristics of CPG, this method significantly enhances the stability and adaptability of hexapod robots in complex terrains. Experimental results show that, compared to pure DRL approaches, this method significantly improves learning efficiency and control performance, when dealing with complex terrains, it considerably enhances the robot’s stability and adaptability compared to pure CPG control.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 3","pages":"Article 100231"},"PeriodicalIF":5.4,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144879101","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimization-based UWB positioning with multiple tags for estimating position and rotation simultaneously 基于优化的多标签超宽带定位，同时估计位置和旋转

Biomimetic Intelligence and Robotics Pub Date : 2025-06-01 Epub Date: 2025-01-10 DOI: 10.1016/j.birob.2025.100210

Hao Chen , Bo Yang , Luyang Li , Tao Liu , Jiacheng Zhang , Ying Zhang

{"title":"Optimization-based UWB positioning with multiple tags for estimating position and rotation simultaneously","authors":"Hao Chen , Bo Yang , Luyang Li , Tao Liu , Jiacheng Zhang , Ying Zhang","doi":"10.1016/j.birob.2025.100210","DOIUrl":"10.1016/j.birob.2025.100210","url":null,"abstract":"<div><div>Currently, the ultra-wideband (UWB) positioning scheme is widely applied to indoor robot positioning and has achieved high positioning accuracy. However, in some narrow and complex environments, its accuracy is still significantly degraded by the multipath effect or non-line-of-sight situations. In addition, the current single tag-based pure UWB positioning methods only estimate the tag position and ignore the rotation estimation of the robot. Therefore, in this paper, we propose a multiple tags-based UWB positioning method to estimate the position and rotation simultaneously, and further improve the position estimation accuracy. To be specific, we first install four fixed tags on the robot. Then, based on the ranging measurements, anchor positions and geometric relationships between each tag, we design five different geometric constraints and smooth constraints to build a whole optimization function. With this optimization function, both the rotations and positions at each time step can be estimated by the iterative optimization algorithm, and the results of tag positions can be improved. Both simulation and real-world experiments are conducted to evaluate the proposed method. Furthermore, we also explore the effect of relative distances between multiple tags on the rotations in the experiments. The experimental results suggest that the proposed method can effectively improve the position estimation performance, while the large relative distances between multiple tags benefit the rotation estimation.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100210"},"PeriodicalIF":0.0,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143422513","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

A hybrid artificial bee colony algorithm with genetic augmented exploration mechanism toward safe and smooth path planning for mobile robot 基于遗传增强探索机制的混合人工蜂群算法求解移动机器人安全平滑路径规划

Biomimetic Intelligence and Robotics Pub Date : 2025-06-01 Epub Date: 2024-12-26 DOI: 10.1016/j.birob.2024.100206

Fan Ye , Peng Duan , Leilei Meng , Lingyan Xue

{"title":"A hybrid artificial bee colony algorithm with genetic augmented exploration mechanism toward safe and smooth path planning for mobile robot","authors":"Fan Ye , Peng Duan , Leilei Meng , Lingyan Xue","doi":"10.1016/j.birob.2024.100206","DOIUrl":"10.1016/j.birob.2024.100206","url":null,"abstract":"<div><div>Path planning is important for mobile robot to ensure safe and efficient navigation. This paper proposes a hybrid artificial bee colony with genetic augmented exploration mechanism (HABC-GA) that enables mobile robot to achieve safe and smooth path planning. Considering the characteristics of path planning problem, a mathematical model is constructed to balance three objectives: path length, path safety, and path smoothness. In the employed bee phase, a genetic augmented exploration mechanism is designed, which encompasses redesigned path crossover, adaptive obstacle-aware mutation, and dynamic elite selection operators. In the onlooker bee phase, an objective-guided optimization strategy is investigated to improve local search ability. In the scout bee phase, a dual exploration restart strategy is developed to increase the activity of individuals in the population, in which stagnant individuals in the evolution are replaced by more promising ones. Finally, the proposed HABC-GA is compared with five efficient algorithms in 24 instances of six representative environments. Simulation results demonstrate the effectiveness and high performance of HABC-GA in obtaining safe and smooth paths.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100206"},"PeriodicalIF":0.0,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143160557","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

Review of bioinspired aquatic jumping robots 仿生水上跳跃机器人综述

Biomimetic Intelligence and Robotics Pub Date : 2025-06-01 Epub Date: 2024-12-13 DOI: 10.1016/j.birob.2024.100204

Tao Zhang , Jiawei Dong , Qianqian Chen , Xiongqian Wu , Shuqi Wang , Yisheng Guan

引用次数: 0

Bathing assistive devices and robots for the elderly 老年人沐浴辅助设备和机器人

Biomimetic Intelligence and Robotics Pub Date : 2025-06-01 Epub Date: 2025-02-14 DOI: 10.1016/j.birob.2025.100218

Jian Li , Yadong Mo , Shijie Jiang , Lifang Ma , Ying Zhang , Shimin Wei

{"title":"Bathing assistive devices and robots for the elderly","authors":"Jian Li , Yadong Mo , Shijie Jiang , Lifang Ma , Ying Zhang , Shimin Wei","doi":"10.1016/j.birob.2025.100218","DOIUrl":"10.1016/j.birob.2025.100218","url":null,"abstract":"<div><div>The issue of aging population has become a severe problem that restricts global development. Thus, the development of bathing robots for the elderly is of great significance for the national strategy of actively addressing population aging. However, there is a lack of systematic review and analysis for the elderly bathing aids and robots, and the trend of the future development is also unclear. Therefore, by reviewing the relevant literature, this paper systematically analyzes the technical characteristics and usage scenarios of the lying, sitting and auxiliary posture, based on the bathing methods, bathing modes, and post bath care, which can clarify the current research status of bathing aids and robots for the elderly. Meanwhile, from the perspectives of the structural design, motion control and information intelligence, the key technologies and existing problems of bathing aids and robots are elaborated, and the relevant technical system is sorted out. Finally, based on the future of technological elderly care and the elderly bathing needs, the development trend of elderly bathing aids and robots is prospected, and the reference and suggestions for its research and development is provided, which has positive research significance.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100218"},"PeriodicalIF":0.0,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143520585","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

Fuzzy adaptive variable impedance control on deformable shield of defecation smart care robot 排便智能护理机器人变形护罩模糊自适应变阻抗控制

Biomimetic Intelligence and Robotics Pub Date : 2025-06-01 Epub Date: 2025-01-25 DOI: 10.1016/j.birob.2025.100214

Lingling Chen , Pengyue Lai , Yanglong Wang , Yuxin Dong

引用次数: 0

A guided approach for cross-view geolocalization estimation with land cover semantic segmentation 基于土地覆盖语义分割的交叉视角定位估计方法

Biomimetic Intelligence and Robotics Pub Date : 2025-06-01 Epub Date: 2025-01-11 DOI: 10.1016/j.birob.2024.100208

Nathan A.Z. Xavier , Elcio H. Shiguemori , Marcos R.O.A. Maximo , Mubarak Shah

引用次数: 0

A survey of autonomous robots and multi-robot navigation: Perception, planning and collaboration 自主机器人与多机器人导航综述：感知、规划与协作

Biomimetic Intelligence and Robotics Pub Date : 2025-06-01 Epub Date: 2024-12-07 DOI: 10.1016/j.birob.2024.100203

Weinan Chen , Wenzheng Chi , Sehua Ji , Hanjing Ye , Jie Liu , Yunjie Jia , Jiajie Yu , Jiyu Cheng

引用次数: 0