217 research outputs found
Advances in Bio-Inspired Robots
This book covers three major topics, specifically Biomimetic Robot Design, Mechanical System Design from Bio-Inspiration, and Bio-Inspired Analysis on A Mechanical System. The Biomimetic Robot Design part introduces research on flexible jumping robots, snake robots, and small flying robots, while the Mechanical System Design from Bio-Inspiration part introduces Bioinspired Divide-and-Conquer Design Methodology, Modular Cable-Driven Human-Like Robotic Arm andWall-Climbing Robot. Finally, in the Bio-Inspired Analysis on A Mechanical System part, research contents on the control strategy of Surgical Assistant Robot, modeling of Underwater Thruster, and optimization of Humanoid Robot are introduced
Bio-Inspired Robotics
Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field
Design, Actuation, and Functionalization of Untethered Soft Magnetic Robots with Life-Like Motions: A Review
Soft robots have demonstrated superior flexibility and functionality than
conventional rigid robots. These versatile devices can respond to a wide range
of external stimuli (including light, magnetic field, heat, electric field,
etc.), and can perform sophisticated tasks. Notably, soft magnetic robots
exhibit unparalleled advantages among numerous soft robots (such as untethered
control, rapid response, and high safety), and have made remarkable progress in
small-scale manipulation tasks and biomedical applications. Despite the
promising potential, soft magnetic robots are still in their infancy and
require significant advancements in terms of fabrication, design principles,
and functional development to be viable for real-world applications. Recent
progress shows that bionics can serve as an effective tool for developing soft
robots. In light of this, the review is presented with two main goals: (i)
exploring how innovative bioinspired strategies can revolutionize the design
and actuation of soft magnetic robots to realize various life-like motions;
(ii) examining how these bionic systems could benefit practical applications in
small-scale solid/liquid manipulation and therapeutic/diagnostic-related
biomedical fields
Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot
A vast number of applications for legged robots entail tasks in complex,
dynamic environments. But these environments put legged robots at high risk for
limb damage. This paper presents an empirical study of fault tolerant dynamic
gaits designed for a quadrupedal robot suffering from a single, known
``missing'' limb. Preliminary data suggests that the featured gait controller
successfully anchors a previously developed planar monopedal hopping template
in the three-legged spatial machine. This compositional approach offers a
useful and generalizable guide to the development of a wider range of tripedal
recovery gaits for damaged quadrupedal machines.Comment: Updated *increased font size on figures 2-6 *added a legend, replaced
text with colors in figure 5a and 6a *made variables representing vectors
boldface in equations 8-10 *expanded on calculations in equations 8-10 by
adding additional lines *added a missing "2" to equation 8 (typo) *added mass
of the robot to tables II and III *increased the width of figures 1 and
A Multi-Level Control Architecture for the Bionic Handling Assistant
Rolf M, Neumann K, Queißer J, Reinhart F, Nordmann A, Steil JJ. A Multi-Level Control Architecture for the Bionic Handling Assistant. Advanced Robotics. 2015;29(13: SI):847-859.The Bionic Handling Assistant is one of the largest soft continuum robots and very special in be-
ing a pneumatically operated platform that is able to bend, stretch, and grasp in all directions. It
nevertheless shares many challenges with smaller continuum and other softs robots such as parallel
actuation, complex movement dynamics, slow pneumatic actuation, non-stationary behavior, and a
lack of analytic models. To master the control of this challenging robot, we argue for a tight inte-
gration of standard analytic tools, simulation, control, and state of the art machine learning into an
overall architecture that can serve as blueprint for control design also beyond the BHA. To this aim,
we show how to integrate specific modes of operation and different levels of control in a synergistic
manner, which is enabled by using modern paradigms of software architecture and middleware. We
thereby achieve an architecture with unique overall control abilities for a soft continuum robot that
allow for exible experimentation towards compliant user-interaction, grasping, and online learning of
internal models
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