Biomimetic Intelligence and Robotics最新文献_第6页

Multi-gait snake robot for inspecting inner wall of a pipeline 用于检测管道内壁的多轨道蛇形机器人

Biomimetic Intelligence and Robotics Pub Date : 2024-03-16 DOI: 10.1016/j.birob.2024.100156

Jingwei Liu , Man Li , Yahui Wang , Da Zhao , Rui Deng

{"title":"Multi-gait snake robot for inspecting inner wall of a pipeline","authors":"Jingwei Liu , Man Li , Yahui Wang , Da Zhao , Rui Deng","doi":"10.1016/j.birob.2024.100156","DOIUrl":"10.1016/j.birob.2024.100156","url":null,"abstract":"<div><p>In the field of pipeline inner wall inspection, the snake robot demonstrates significant advantages over other inspection methods. While a simple traveling wave or meandering motion will suffice for inspecting the inner wall of small-diameter pipes, comprehensively and meticulously inspecting the inner wall of large-diameter pipes requires the snake robot to adopt a helical gait that closely adheres to the inner wall. Our review of existing literature indicates that most research and development on the helical gait of snake robots has focused on the outer surface of cylinders, with very few studies dedicated to developing a helical gait specifically for the inspection of the inner wall of pipes. Therefore, in this study, we propose a helical gait that is suitable for the inner wall of pipes and meets the requirements of gas pipeline engineering. The helical gait is designed using the backbone curve method. First, we create a mathematical model for a circular helix curve with constant curvature and torsion, ensuring it is applicable to a snake robot prototype in a laboratory environment. Subsequently, we calculate the joint angles required for two conical spiral curves with variable curvature and torsion, establish a new model, and define the physical significance of the specific parameters. To ensure the feasibility of the proposed gait, we conduct experiments involving meandering and traveling wave motions to verify the communication and control between the host computer and the snake robot. Building upon this foundation, we further validate the mathematical model of the complex helical motion gait through simulation experiments. Our findings provide a theoretical basis for realizing helical movement with a real snake robot.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 2","pages":"Article 100156"},"PeriodicalIF":0.0,"publicationDate":"2024-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000147/pdfft?md5=334834b637d7048cd9c82b8109d4664e&pid=1-s2.0-S2667379724000147-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140269866","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

Enhancing undulation of soft robots in granular media: A numerical and experimental study on the effect of anisotropic scales 增强软机器人在颗粒介质中的起伏：关于各向异性尺度影响的数值和实验研究

Biomimetic Intelligence and Robotics Pub Date : 2024-03-01 DOI: 10.1016/j.birob.2024.100158

Longchuan Li, Chaoyue Zhao, Shuqian He, Qiukai Qi, Shuai Kang, Shugen Ma

引用次数: 0

Defect detection and repair algorithm for structures generated by topology optimization based on 3D hierarchical fully convolutional network 基于三维分层全卷积网络的拓扑优化结构缺陷检测与修复算法

Biomimetic Intelligence and Robotics Pub Date : 2024-02-29 DOI: 10.1016/j.birob.2024.100149

Zhiyu Wan , Hai Lan , Sichao Lin , Houde Dai

{"title":"Defect detection and repair algorithm for structures generated by topology optimization based on 3D hierarchical fully convolutional network","authors":"Zhiyu Wan , Hai Lan , Sichao Lin , Houde Dai","doi":"10.1016/j.birob.2024.100149","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100149","url":null,"abstract":"<div><p>Customized 3D-printed structural parts are widely used in surgical robotics. To satisfy the mechanical properties and kinematic functions of these structural parts, a topology optimization technique is adopted to obtain the optimal structural layout while meeting the constraints and objectives. However, topology optimization currently faces some practical challenges that must be addressed, such as ensuring that structures do not have significant defects when converted to additive manufacturing models. To address this problem, we designed a 3D hierarchical fully convolutional network (FCN) to predict the precise position of the defective structures. Based on the prediction results, an effective repair strategy is adopted to repair the defective structure. A series of experiments is conducted to demonstrate the effectiveness of our approach. Compared to the 2D fully convolutional network and the rule-based detection method, our approach can accurately capture most defect structures and achieve 89.88% precision and 95.59% recall. Furthermore, we investigate the impact of different ways to increase the receptive field of our model, as well as the trade-off between different defect-repairing strategies. The results of the experiment demonstrate that the hierarchical structure, which increases the receptive field, can substantially improve the defect detection performance. To the best of our knowledge, this paper is the first to investigate 3D defect prediction and repair for topology optimization in conjunction with deep learning algorithms, providing practical tools and new perspectives for the subsequent development of topology optimization techniques.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 2","pages":"Article 100149"},"PeriodicalIF":0.0,"publicationDate":"2024-02-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S266737972400007X/pdfft?md5=8cc99c42fe162200d86da52126e5ba63&pid=1-s2.0-S266737972400007X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140187259","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

Locomotion control of a rigid-soft coupled snake robot in multiple environments 多环境下刚柔耦合蛇形机器人的运动控制

Biomimetic Intelligence and Robotics Pub Date : 2024-02-25 DOI: 10.1016/j.birob.2024.100148

Xuanyi Zhou , Yuqiu Zhang , Zhiwei Qiu , Zhecheng Shan , Shibo Cai , Guanjun Bao

{"title":"Locomotion control of a rigid-soft coupled snake robot in multiple environments","authors":"Xuanyi Zhou , Yuqiu Zhang , Zhiwei Qiu , Zhecheng Shan , Shibo Cai , Guanjun Bao","doi":"10.1016/j.birob.2024.100148","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100148","url":null,"abstract":"<div><p>The versatile motion capability of snake robots offers themselves robust adaptability in varieties of challenging environments where traditional robots may be incapacitated. This study reports a novel flexible snake robot featuring a rigid–flexible coupling structure and multiple motion gaits. To better understand the robot’s behavior, a bending model for the soft actuator is established. Furthermore, a dynamic model is developed to map the relationship between the input air pressure and joint torque, which is the model base for controlling the robot effectively. Based on the wave motion generated by the joint coupling direction function in different planes, multiple motion gait planning methods of the snake-like robot are proposed. In order to evaluate the adaptability and maneuverability of the developed snake robot, extensive experiments were conducted in complex environments. The results demonstrate the robot’s effectiveness in navigating through intricate settings, underscoring its potential for applications in various fields.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 2","pages":"Article 100148"},"PeriodicalIF":0.0,"publicationDate":"2024-02-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000068/pdfft?md5=e0a6fbae43b7a25b3540a5774b9ca26f&pid=1-s2.0-S2667379724000068-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140187258","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

Graph neural network based method for robot path planning 基于图神经网络的机器人路径规划问题方法

Biomimetic Intelligence and Robotics Pub Date : 2024-02-02 DOI: 10.1016/j.birob.2024.100147

Xingrong Diao , Wenzheng Chi , Jiankun Wang

引用次数: 0

Human–robot object handover: Recent progress and future direction 人机物体交接：最新进展与未来方向

Biomimetic Intelligence and Robotics Pub Date : 2024-02-02 DOI: 10.1016/j.birob.2024.100145

Haonan Duan , Yifan Yang , Daheng Li , Peng Wang

引用次数: 0

Graph neural network based method for robot path planning problem 基于图神经网络的机器人路径规划问题方法

Biomimetic Intelligence and Robotics Pub Date : 2024-02-01 DOI: 10.1016/j.birob.2024.100147

Xingrong Diao, Wenzheng Chi, Jiankun Wang

引用次数: 0

Human-robot object handover: Recent progress and future direction 人机物体交接：最新进展与未来方向

Biomimetic Intelligence and Robotics Pub Date : 2024-02-01 DOI: 10.1016/j.birob.2024.100145

Haonan Duan, Yifan Yang, Daheng Li, Peng Wang

引用次数: 0

Controlling a peristaltic robot inspired by inchworms 受尺蠖启发控制蠕动机器人

Biomimetic Intelligence and Robotics Pub Date : 2024-01-29 DOI: 10.1016/j.birob.2024.100146

Yanhong Peng , Hiroyuki Nabae , Yuki Funabora , Koichi Suzumori

{"title":"Controlling a peristaltic robot inspired by inchworms","authors":"Yanhong Peng , Hiroyuki Nabae , Yuki Funabora , Koichi Suzumori","doi":"10.1016/j.birob.2024.100146","DOIUrl":"https://doi.org/10.1016/j.birob.2024.100146","url":null,"abstract":"<div><p>This study presents an innovative approach in soft robotics, focusing on an inchworm-inspired robot designed for enhanced transport capabilities. We explore the impact of various parameters on the robot’s performance, including the number of activated sections, object size and material, supplied air pressure, and command execution rate. Through a series of controlled experiments, we demonstrate that the robot can achieve a maximum transportation speed of 8.54 mm/s and handle loads exceeding 100 g, significantly outperforming existing models in both speed and load capacity. Our findings provide valuable insights into the optimization of soft robotic design for improved efficiency and adaptability in transport tasks. This research not only contributes to the advancement of soft robotics but also opens new avenues for practical applications in areas requiring precise and efficient object manipulation. The study underscores the potential of biomimetic designs in robotics and sets a new benchmark for future developments in the field.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 1","pages":"Article 100146"},"PeriodicalIF":0.0,"publicationDate":"2024-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000044/pdfft?md5=ed720fe9de4d4c0b2d1704b08f957681&pid=1-s2.0-S2667379724000044-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139985968","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

Continuous adaptive gaits manipulation for three-fingered robotic hands via bioinspired fingertip contact events 通过生物启发指尖接触事件实现三指机械手的连续自适应步态操纵

Biomimetic Intelligence and Robotics Pub Date : 2024-01-11 DOI: 10.1016/j.birob.2024.100144

Xiaolong Ma , Jianhua Zhang , Binrui Wang , Jincheng Huang , Guanjun Bao

{"title":"Continuous adaptive gaits manipulation for three-fingered robotic hands via bioinspired fingertip contact events","authors":"Xiaolong Ma , Jianhua Zhang , Binrui Wang , Jincheng Huang , Guanjun Bao","doi":"10.1016/j.birob.2024.100144","DOIUrl":"10.1016/j.birob.2024.100144","url":null,"abstract":"<div><p>The remarkable skill of changing its grasp status and relocating its fingers to perform continuous in-hand manipulation is essential for a multifingered anthropomorphic hand. A commonly utilized method of manipulation involves a series of basic movements executed by a high-level controller. However, it remains unclear how these primitives evolve into sophisticated finger gaits during manipulation. Here, we propose an adaptive finger gait-based manipulation method that offers real-time regulation by dynamically changing the primitive interval to ensure the force/moment balance of the object. Successful manipulation relies on contact events that act as triggers for real-time online replanning of multifinger manipulation. We identify four basic motion primitives of finger gaits and create a heuristic finger gait that enables the continuous object rotation of a round cup. Our experimental results verify the effectiveness of the proposed method. Despite the constant breaking and reengaging of contact between the fingers and the object during manipulation, the robotic hand can reliably manipulate the object without failure. Even when the object is subjected to interfering forces, the proposed method demonstrates robustness in managing interference. This work has great potential for application to the dexterous operation of anthropomorphic multifingered hands.</p></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 1","pages":"Article 100144"},"PeriodicalIF":0.0,"publicationDate":"2024-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000020/pdfft?md5=72792729389d12c2550af75794b08646&pid=1-s2.0-S2667379724000020-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139454062","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