Bionic Robot Research Articles

Research on the Cultivating Mode of Interdisciplinary Innovative Talents in Bionic Robots

Current scientific problems are becoming increasingly complex and need to be solved through the cross-penetration of disciplines. Cross-disciplinary collaboration has become an important way to solve the major problems facing mankind. Cultivating high-level innovative talents with interdisciplinary knowledge background has become an urgent need for talent training.. At present, the construction of interdisciplinary subjects in our country is still in its infancy and requires continuous exploration. This article discusses the current status of domestic and international interdisciplinary construction, analyzes the current problems in interdisciplinary construction, and proposes corresponding measures.

Design and Experimental Validation of a Bionic Robotic Capturing System Inspired by Net-Casting Spiders

Design and Experimental Validation of a Bionic Robotic Capturing System Inspired by Net-Casting Spiders

Friction modulation through normal vibrations in an inchworm-inspired robot

The inchworm′s locomotion strategy has significantly influenced bionic robotics research, guiding efforts to mimic its structural and movement characteristics. This study introduces an innovative method to modulate horizontal friction in an inchworm-inspired robot using normal vibrations. By harnessing the dynamics between friction forces, self-deformation, and normal excitations, the robot can mimic crawling motion. A simplified mechanical model is established to reveal the robot′s movement. And the numerical simulations are conducted to analyze the influence of excitation and friction coefficients on the robot′s movement. The findings reveal that the robot′s velocity initially increases and then decreases as the excitation frequency increases, signifying the feasibility of achieving precise control through normal excitations. This study contributes to tribology and robotic locomotion paradigms.

Design and Optimisation of Bionic Frog Hind Limbs

With the deepening of human exploration of the Earth, more and more survey tasks are being carried out in unstructured environments. Biomimetic robots that can replace humans in completing related tasks under harsh conditions have gradually become a hot topic in robot development. Therefore, developing a biomimetic robot with a wide range of activities, strong mobility, excellent obstacle crossing ability, and rapid avoidance response has important theoretical research significance and broad application prospects. This paper focuses on frogs as the research object,research is conducted from the perspective of institutional design, aiming to design a frog like jumping robot with strong obstacle crossing ability and good environmental adaptability. In terms of overall structural design, a M-shaped structure based on linear bearings was proposed to ensure the stability of the robot during takeoff and landing; In terms of leg structure design, C-shaped flexible springs are used to integrate the calf, ankle joint, and foot into one, which can play a buffering role when the robot lands; In terms of transmission structure design, Propose to control the compression cycle of the jumping leg through a cam to achieve continuous jumping of the robot. The relevant research results indicate that the structural principle of the designed frog like jumping robot is correct, and the jumping effect is relatively good.For the sake of ideals, this paper provides a certain theoretical basis and basis for further research on bionic jumping robots.

Design and implementation of a dual-drive bionic crab robot

Design and implementation of a dual-drive bionic crab robot

High-Performance Nanocellulose-Based Ionic Electroactive Soft Actuators

High-performance electroactive polymer actuators with large bending, fast response, and high durability have gained attention in the development of micromanipulators and multifunctional bionic soft robots. Herein, we developed high-performance electroactive soft actuators fabricated with ultrathin free-standing microfibrillated cellulose (MFC)-reinforced poly(3,4-ethylenedioxythiophene)/poly(4-styrenesulfonate) (PEDOT/PSS) with multi-walled carbon nanotube (MWCNT)-doped composite electrode films and ion-exchange Nafion membranes by a hot-pressing method. The prepared PEDOT/PSS-MFC-MWCNT electrodes have good film-forming properties with a Young’s modulus of 448 MPa and an electrical conductivity of 75 S/cm. The proposed PEDOT/PSS-MFC-MWCNT/Nafion soft actuators have a sustained peak displacement of 2.1 mm and a long-term cyclic stability of 94% with no degradation over 1 h at 1.0 V, 0.1 Hz. Furthermore, we fabricated soft micro-grippers based on the actuators for mimicking actual finger actions for grasping, pointing, and counting, which introduces new possibilities for the next-generation development of micromanipulators and bionic soft robotics.

A novel bionic mantis shrimp robot for tracking underwater moving objects

ABSTRACT Inspired by the agility of mantis shrimp, this paper presents the development of a novel bionic mantis shrimp robot with multiple pleopods coupled motion for underwater target recognition and tracking. Firstly, the novel bionic robot is constructed based on the inspiration from biological mantis shrimp. Secondly, a Kalman filter-based algorithm, namely MobileNet-YOLO (KMY), is created to collect datasets and train neural networks. Thirdly, a moving target following system is developed for the bionic mantis shrimp robot, in which a dual PID controller is used to track underwater moving targets. The real robot testing results show that the proposed control system can enable our bionic robot to follow a specific moving target in a narrow pool (2m × 1m × 1m), and the minimum turning radius can be up to 0.55m when the angle between the robot's initial motion and the motion of target is 90°.

Single-Walled Carbon Nanotube-Reinforced PEDOT: PSS Hybrid Electrodes for High-Performance Ionic Electroactive Polymer Actuator

Ionic electroactive polymer (iEAP) actuators are recognized as exceptional candidates for artificial muscle development, with significant potential applications in bionic robotics, space exploration, and biomedical fields. Here, we developed a new iEAP actuator utilizing high-purity single-walled carbon nanotubes (SWCNTs)-reinforced poly(3, 4-ethylenedioxythiophene)/poly(4-styrenesulfonate) (PEDOT: PSS, PP) hybrid electrodes and a Nafion/EMIBF4 ion-exchange membrane via a straightforward and efficient spray printing technique. The SWCNT/PP actuator exhibits significantly enhanced electric conductivity (262.9 S/cm) and specific capacitance (22.5 mF/cm2), benefitting from the synergistic effect between SWCNTs and PP. These improvements far surpass those observed in activated carbon aerogel bucky-gel-electrode-based actuators. Furthermore, we evaluated the electroactive behaviors of the SWCNT/PP actuator under alternating square-wave voltages (1–3 V) and frequencies (0.01–100 Hz). The results reveal a substantial bending displacement of 6.44 mm and a high bending strain of 0.61% (at 3 V, 0.1 Hz), along with a long operating stability of up to 10,000 cycles (at 2 V, 1 Hz). This study introduces a straightforward and efficient spray printing technique for the successful preparation of iEAP actuators with superior electrochemical and electromechanical properties as intended, which hold promise as artificial muscles in the field of bionic robotics.

Light‐adaptive Mimicking Retina with In Situ Image Memorization via Resistive Switching Photomemristor Arrays

AbstractArtificial visual memory systems have been of particular interest since the development of machine vision and bionic robots. Ordinarily, the conventional system architecture requires the complex integration of two functional modules, a photo‐sensor and a memory device, which greatly limits the operating efficiency and increases the extra energy consumption. Nonetheless, other simply configured optoelectronics memory devices generally face challenges of adaption in complex light environments. Here, a resistive switching (RS) perovskite‐based photomemristor is presented that mimics the retina function. The dual function of light perception and in situ storage are both achieved. In the dark condition, it exhibits impressive memory performance with a high ON/OFF ratio of 104, a long retention time of over 104 s, and a low operating voltage of 0.38 V. With illumination, it shows self‐powered, broadband photo‐detecting characteristics with responsivity of 70 mA W−1 and detectivity of 7.5 × 1010 Jones. More importantly, benefiting from the material dual‐phase configuration, the highly steady photo‐adjusted RS windows are achieved. Its light‐adaptive memory application in dynamic environments is further demonstrated using the mimicking retina for a machine eye. This work can provide a strategy for enhanced RS photomemristor and its application in changing and varied scenarios.

A bionic mimosa soft robot based on a multi-responsive PNIPAM-PEGDA hydrogel composition.

Deformation plays a vital role in the survival of natural organisms. One example is that plants deform themselves to face the sun for sufficient sunlight exposure, which allows them to produce nutrients through photosynthesis. Drawing inspiration from nature, researchers have been exploring the development of 3D deformable materials. However, the traditional approach to manufacturing deformable hydrogels relies on complex technology, which limits their potential applications. In this study, we simulate the stress variations observed in the plant tissue to create a 3D structure from a 2D material. Using UV curing technology, we create a single-layer poly(N-isopropylacrylamide) hydrogel sheet with microchannels that exhibit distinct swelling rates when subjected to stimulation. After a two-step curing process, we produce a poly(N-isopropylacrylamide)-polyethylene glycol diacrylatedouble-layer structure that can be manipulated to change its shape by controlling the light and solvent content. Based on the double-layer structure, we fabricate a dual-response driven bionic mimosa robot that can perform a variety of functions. This soft robot can not only reversibly change its shape but also maintain a specific shape without continuous stimulation. Its capacity for reversible deformation, resulting from internal stress, presents promising application prospects in the biomedical and soft robotics domain. This study delivers an insightful framework for the development of programmable soft materials.

A ray-inspired flexible robot fish with stable controllability actuated by photo -responsive composite hydrogels with poly(N-isopropylacrylamide) and multi-walled carbon nanotubes

Drawing inspiration from the movement behaviour of rays in nature, we have successfully developed a ray-inspired flexible robot fish driven by visible light. A composite made of poly(N-isopropylacrylamide) (PNIPAM) and multi-walled carbon nanotubes (MWCNTs) has excellent biocompatibility and photo-responsive deformability. The PNIPAM hydrogel flexible material of the robot fish was prepared by light curing printing technology. Under the control of visible light, the robot fish swims in a straight line at an average speed of about 0.42 mm/s. The photoinduced asymmetric deformation mechanism is used to control the deformation of the fins on both sides of the robot fish, so that the robot fish can turn and realize directional swimming control. These findings have important implications for the development of flexible bionic robots and provide valuable insights for the research of bionic robots driven by visible light.

Embodied Intelligence: Bionic Robot Controller Integrating Environment Perception, Autonomous Planning, and Motion Control

Embodied Intelligence: Bionic Robot Controller Integrating Environment Perception, Autonomous Planning, and Motion Control

Numerical Simulation of Motion Test of Bionic Amphibious Quadruped Robot

Bionic amphibious quadruped robots are a huge leap in robotics, with the ability to navigate various terrains with agility and efficiency. In this study, the researchers utilized numerical simulations of motion tests to assess the locomotion skills of these extraordinary robotic systems. They learned a lot about their functioning and problems by rigorously analyzing performance parameters across various terrains and conditions, such as terrain adaptability, traversal speed, energy efficiency, stability, and manoeuvrability. The results they obtained highlighted the importance of adaptive control algorithms and mechanical designs in maximizing traversal speed and energy economy, especially while negotiating difficult terrains. In addition, the study demonstrated the interdisciplinary character of research in bionic amphibious quadruped robots, drawing on insights from biomechanics, control theory, robotics, and computational modelling. By combining previous research and utilizing computational simulation approaches, they opened the road for the creation of versatile and durable robotic systems capable of navigating difficult terrains and surroundings with precision and efficiency. Future research efforts could focus on improving design and control, investigating novel propulsion mechanisms, adaptive locomotion tactics, and biomimetic control algorithms to improve performance and adaptability. Addressing the challenges identified in the research and seizing opportunities for innovation will drive the development of robotic systems that push the limits of locomotion capabilities and open up new possibilities for applications in exploration, search and rescue, environmental monitoring, and beyond.

Revealing the inherent running mechanism of quadruped mammals based on a novel bionic stiffness model

In this paper, the limb of a goat is chosen as the research object, and according to mammalian anatomy, a bionic model called the quasi inverted pendulum with “J” curve spring (QIPJCS) model with nonlinear stiffness is built, and the equations of motion are derived. Based on these equations, the advantages of the QIPJCS model are illustrated from the aspect of the stable motion region by the SFA (step-to-fall analysis) numerical simulation method. These results are compared with the traditional SLIP model. Furthermore, the ARM (Apex-Return-Map) of this model is built, and the fixed points are analyzed. Finally, according to the locomotion law of goats running with gallop gaits and the analysis of the dead-point support effect, the dynamic motion mechanism of goat limbs is elucidated, and the equivalent mechanism model is built. Based on the mechanism, the dynamic mechanical analysis indicates that the joint driving torque can be minimized to conserve energy by optimizing the landing angle. The running mechanism research of quadruped mammals, which is based on the novel bionic stiffness model, provides theoretical support for the design of high-performance mechanical legs and the motion control of bionic robots.

Innovative strain measuring device with flex sensor for twisted and coiled actuator and dexterous hand application

The displacement of twisted and coiled polymer (TCP) actuators, a key physical characteristic, can be measured using a lightweight method, thereby improving the TCP responses and applications in the robot control. This work presents a strain measurement device based on the flex sensor and the hinge links applied in the displacement measuring of the TCP. The bent angle from the sensor affixed to the hinge is converted to the displacement value of the TCP based on the angle-strain model. Compared to the laser sensor, the calculated displacement of the device shows a good tracking effect within the 95 % confidence interval. In the dexterous hand prototype, finger trajectory and joint angles are smoother under a PID controller compared to a non-PID controller, demonstrating the effectiveness of feedback control involving displacement and tension. Finally, the device can cover an extensive range of TCP strains and be applied in more TCP-driven bionic robots.

Water entry locomotion strategy for a stranding bionic robotic fish

AbstractSimilar to other underwater robots, bionic robotic fish face entrapment risks when stranded due to wave action or water level drop. In this paper, we propose a locomotion strategy for a whale shark‐inspired robotic fish, enabling it to autonomously return to aquatic environments after being stranded on land. This strategy is informed by the terrestrial locomotion capabilities of mudskippers and is particularly significant given the considerable mass of such robotic fish, which compounds the difficulty of land‐based movement. First, we introduce a lightweight YOLOv5 model‐based algorithm for deep‐water area recognition, which identifies the direction for the bionic robot fish to re‐enter the water. Subsequently, pectoral fin‐based crawling gaits are designed by the innate two degrees of freedom within the existing pectoral fin structure of the robot. These gaits empower the robotic fish to move on a multitude of terrestrial terrains. Extended field experiments have validated the effectiveness of our water recognition algorithm and locomotion strategy, confirming the ability of the whale shark‐inspired robotic fish to perform successful water entry maneuvers from the shore. Additionally, the capability to traverse various landforms are also verified. This work provides valuable insights into self‐rescue mechanisms for stranding underwater robots and promotes practical applications of bionic robotics.

Soft Robot Design, Manufacturing, and Operation Challenges: A Review

Advancements in smart manufacturing have embraced the adoption of soft robots for improved productivity, flexibility, and automation as well as safety in smart factories. Hence, soft robotics is seeing a significant surge in popularity by garnering considerable attention from researchers and practitioners. Bionic soft robots, which are composed of compliant materials like silicones, offer compelling solutions to manipulating delicate objects, operating in unstructured environments, and facilitating safe human–robot interactions. However, despite their numerous advantages, there are some fundamental challenges to overcome, which particularly concern motion precision and stiffness compliance in performing physical tasks that involve external forces. In this regard, enhancing the operation performance of soft robots necessitates intricate, complex structural designs, compliant multifunctional materials, and proper manufacturing methods. The objective of this literature review is to chronicle a comprehensive overview of soft robot design, manufacturing, and operation challenges in conjunction with recent advancements and future research directions for addressing these technical challenges.

Skin‐Inspired Bimodal Receptors for Object Recognition and Temperature Sensing Simulation

AbstractSkin contacts with objects with different thermal conductivity and tactile perception will produce different temperature and tactile sensations. Here, an innovative creation is presented known as the BB‐Skin, a highly realistic bionic bimodal electronic skin, meticulously designed to mirror the thermal sensitivity and tactile perception found in human skin. This technology allows for precise object recognition and offers remote temperature sensing feedback. The BB‐Skin comprises temperature sensing, heating, and tribo‐electrode modules. Through the utilization of machine learning algorithms that measure the thermal conductivity and electronegativity of materials, a bimodal bionic robot object recognition system is developed, achieving an impressive accuracy rate exceeding 98.11%. The bimodal nature of the system, based on different types of electrical signals that operate independently, significantly enhances the reliability of the device. Moreover, harnessing the inherent capabilities of the BB‐Skin, a novel remote temperature sensing and feedback system is successfully implemented. This system adeptly replicates the temperature perception when remotely touching objects and provides users with feedback through gloves embedded with heating and cooling modules.

Adaptive Set-Membership Filter Based Discrete Sliding Mode Control for Pneumatic Artificial Muscle Systems With Hardware Experiments

Pneumatic artificial muscle (PAM), featuring good flexibility and safety, has been widely used in rehabilitation and bionic robots. However, the complex hysteretic nonlinearities and uncertainties of the PAM cause great difficulties and challenges to the accurate modeling and controller design, especially when confronted with unknown external disturbances in applications. This paper proposes a robust control strategy with disturbance compensation for the hysteresis compensation and trajectory tracking of PAMs. Considering the high hysteretic nonlinearity of the PAM, a modified Prandtl-Ishlinskii model is used as a feedforward hysteresis compensator. For the linearized system, adaptive set-membership filtering (ASMF) is used to estimate the nonlinear terms and external disturbances of the overall system. A sliding mode controller (SMC) with disturbance compensation is designed and cascaded to the feedforward hysteresis compensator in series. The stability of the closed-loop system is theoretically proved. The proposed method guarantees that the tracking error of the PAM system is bounded. Finally, the effectiveness and robustness of the proposed controller are verified via a series of experiments on an in-house built testbench for PAMs. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —With the increasing demand on human-robot interaction, the safety and compliance of robots have become one key requirement. PAM is a compliant actuator, exhibiting good flexibility, safety, and clean energy. PAM is widely used in rehabilitation robots, whereas its strong hysteresis nonlinearity and sensitivity to external disturbances affect its motion accuracy. This paper proposes an ASMF-based discrete SMC, which uses an inverse hysteresis model to compensate for the strong hysteresis of the PAM and uses ASMF to estimate the lumped disturbance of the system. Compared with the other filters, ASMF is unique in that its estimation error is bounded, which is very useful in the stability proof of the overall system. The effectiveness of the proposed controller is experimentally verified. Experimental results show that PAM’s hysteresis can be efficiently compensated, and the influence of external disturbances can be attenuated by the proposed controller, resulting in improved motion accuracy and robustness. In future work, efforts will be directed towards the modeling and control of PAMs in multi-DOF robots.

Highly efficient recognition of similar objects based on ionic robotic tactile sensors

Tactile sensing provides robots the ability of object recognition, fine operation, natural interaction, etc. However, in the actual scenario, robotic tactile recognition of similar objects still faces difficulties such as low efficiency and accuracy, resulting from a lack of high-performance sensors and intelligent recognition algorithms. In this paper, a flexible sensor combining a pyramidal microstructure with a gradient conformal ionic gel coating was demonstrated, exhibiting excellent signal-to-noise ratio (48 dB), low detection limit (1 Pa), high sensitivity (92.96 kPa−1), fast response time (55 ms), and outstanding stability over 15,000 compression-release cycles. Furthermore, a Pressure-Slip Dual-Branch Convolutional Neural Network (PSNet) architecture was proposed to separately extract hardness and texture features and perform feature fusion. In tactile experiments on different kinds of leaves, a recognition rate of 97.16% was achieved, and surpassed that of human hands recognition (72.5%). These researches showed the great potential in a broad application in bionic robots, intelligent prostheses, and precise human–computer interaction.