Locomotion Method Research Articles

Experimental Comparison of Two Ceiling Hanging Mobile Robots Through Real Prototypes Development

The purpose of this paper is to develop a ceiling hanging mobile robot for factories, offices and living spaces where human and robots can share spaces cooperatively. Based on an analysis of related work, we select two promising candidates of ceiling attachment method; a permanent magnet method and a mechanical constraint method. We combine these two ceiling attachment methods with practical locomotion methods, and realize two ceiling hanging mobile robots. Two different robots are designed and implemented based on our selected approaches. We evaluated the basic performances of those two robots in experiments. Difficulties in their design and implementation processes of the two robots are described, and technical insights are summarized based on the comparison of difficulties, safety, performance and cost. Discussions reveal that the two robots have quite different characteristics. In conclusion, two different application areas are proposed for the two robots with different ceiling attachment methods. Although there are large numbers of reports on wall climbing or ceiling hanging mobile robots, this paper is the first work, to our knowledge, to compare qualitatively and quantitatively the performances of multiple robots through development of real prototypes.

Osteological Histology of the Pan‐Alcidae (Aves, Charadriiformes): Correlates of Wing‐Propelled Diving and Flightlessness

ABSTRACTAlthough studies of osteological morphology, gross myology, myological histology, neuroanatomy, and wing‐scaling have all documented anatomical modifications associated with wing‐propelled diving, the osteohistological study of this highly derived method of locomotion has been limited to penguins. Herein we present the first osteohistological study of the derived forelimbs and hind limbs of wing‐propelled diving Pan‐Alcidae (Aves, Charadriiformes). In addition to detailing differences between wing‐propelled diving charadriiforms and nondiving charadriiforms, microstructural modifications to the humeri, ulnae and femora of extinct flightless pan‐alcids are contrasted with those of volant alcids. Histological thin‐sections of four species of pan‐alcids (Alca torda, †Alca grandis, †Pinguinus impennis, †Mancalla cedrosensis) and one outgroup charadriiform (Stercorarius longicaudus) were compared. The forelimb bones of wing‐propelled diving charadriiforms were found to have significantly thicker (∼22%) cortical bone walls. Additionally, as in penguins, the forelimbs of flightless pan‐alcids are found to be osteosclerotic. However, unlike the pattern documented in penguins that display thickened cortices in both forelimbs and hind limbs, the forelimb and hind limb elements of pan‐alcids display contrasting microstructural morphologies with thickened forelimb cortices and relatively thinner femoral cortices. Additionally, the identification of medullary bone in the sampled †Pinguinus impennis specimen suggests that further osteohistological investigation could provide an answer to longstanding questions regarding sexual dimorphism of Great Auks. Finally, these results suggest that it is possible to discern volant from flightless wing‐propelled divers from fragmentary fossil remains. Anat Rec, 297:188–199, 2014. © 2013 Wiley Periodicals, Inc.

Design, control, and performance of the ‘weed’ 6 wheel robot in the UK MOD grand challenge

A new locomotion method for unmanned (autonomous) ground vehicles (UGV) is proposed based around six independently driven wheels mounted on three separate modules. Each module is attached to the overall robot via a pivot point and capable of independently controlling its orientation and velocity. This configuration allows the UGV to perform maneuvers conventional vehicles cannot perform, and in particular to control the body orientation separately from the movement direction. The locomotion method is mathematically analyzed to develop appropriate control algorithms and to demonstrate the vehicle performance criteria. A vehicle was constructed according to the proposed configuration and experimentally tested in the UK Ministry Of Defense grand challenge. The performance of the developed locomotion schemes helped the robot make it to the finale of the competition.

Osteological Histology of the Pan‐Alcidae (Aves, Charadriiformes): Correlates of Wing‐Propelled Diving and Flightlessness

Although studies of osteological morphology, gross myology, myological histology, neuroanatomy, and wing-scaling have all documented anatomical modifications associated with wing-propelled diving, the osteohistological study of this highly derived method of locomotion has been limited to penguins. Herein we present the first osteohistological study of the derived forelimbs and hind limbs of wing-propelled diving Pan-Alcidae (Aves, Charadriiformes). In addition to detailing differences between wing-propelled diving charadriiforms and nondiving charadriiforms, microstructural modifications to the humeri, ulnae and femora of extinct flightless pan-alcids are contrasted with those of volant alcids. Histological thin-sections of four species of pan-alcids (Alca torda, †Alca grandis, †Pinguinus impennis, †Mancalla cedrosensis) and one outgroup charadriiform (Stercorarius longicaudus) were compared. The forelimb bones of wing-propelled diving charadriiforms were found to have significantly thicker (∼22%) cortical bone walls. Additionally, as in penguins, the forelimbs of flightless pan-alcids are found to be osteosclerotic. However, unlike the pattern documented in penguins that display thickened cortices in both forelimbs and hind limbs, the forelimb and hind limb elements of pan-alcids display contrasting microstructural morphologies with thickened forelimb cortices and relatively thinner femoral cortices. Additionally, the identification of medullary bone in the sampled †Pinguinus impennis specimen suggests that further osteohistological investigation could provide an answer to longstanding questions regarding sexual dimorphism of Great Auks. Finally, these results suggest that it is possible to discern volant from flightless wing-propelled divers from fragmentary fossil remains.

허리 관절을 갖는 4족 로봇의 GA 기반 경사면 보행방법

본 논문에서는 허리 관절을 갖는 4족 로봇의 효율적인 경사면 보행을 위해 유전 알고리듬(Genetic Algorithm: GA)을 이용한 경사면 보행 방법을 제안한다. 제안한 방법에서는 먼저, 허리 관절을 갖는 4족 로봇의 기구학적 모델을 유도하며, GA를 수행하기 위한 유전자 및 적합도 함수를 설정한다. 또한, 경사면에서 최적의 에너지 안정여유도(Energy Stability Margin: ESM)를 갖는 4족 로봇의 자세와 도달 영역 내의 발끝 착지 지점을 GA를 이용하여 자동으로 탐색하여 보행한다. 마지막으로, 4족 보행 로봇의 모의 실험을 통해 기존 방법과 비교함으로써 본 논문에서 제안한 방법의 효용성을 검증한다. In this paper, we propose a genetic algorithm(GA) based locomotion method of a quadruped robot with waist joint, which makes a quadruped robot walk on the slop efficiently. In the proposed method, we first derive the kinematic model of a quadruped robot with waist joint and then set the gene and the fitness function for GA. In addition, we determine the best attitude for a quadruped robot and the landing point of a foot in the walk space, which has the optimal energy stability margin(ESM). Finally, we verify the effectiveness of the proposed method by comparing with the performance of the previous method through the computer simulations.

Locomotion Control of MEMS Microrobot Using Pulse‐Type Hardware Neural Networks

SUMMARYThis paper presents the locomotion control of a microelectromechanical system (MEMS) microrobot. The MEMS microrobot demonstrates locomotion control by pulse‐type hardware neural networks (P‐HNN). P‐HNN generate oscillatory patterns of electrical activity like those of living organisms. The basic component of P‐HNN is a pulse‐type hardware neuron model (P‐HNM). The P‐HNM has the same basic features as biological neurons, such as the threshold, the refractory period, and spatiotemporal summation characteristics, and allows the generation of continuous action potentials. P‐HNN has been constructed with MOSFETs and can be integrated by CMOS technology. Like living organisms, P‐HNN has realized robot control without using software programs or A/D converters. The size of the microrobot fabricated by MEMS technology was 4 × 4 × 3.5 mm. The frame of the robot was made of a silicon wafer, equipped with rotary actuators, link mechanisms, and six legs. The MEMS microrobot emulated the locomotion method and the neural networks of an insect by rotary actuators, link mechanisms, and the P‐HNN. We show that the P‐HNN can control the forward and backward locomotion of the fabricated MEMS microrobot, and that it is possible to switch its direction by inputting an external trigger pulse. The locomotion speed was 19.5 mm/min and the step size was 1.3 mm. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(3): 43–50, 2014; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22473

Climbing robots for maintenance and inspections of vertical structures—A survey of design aspects and technologies

The maintenance and inspection of large vertical structures with autonomous systems is still an unsolved problem. A large number of different robots exist which are able to navigate on buildings, ship hulls or other human-made structures. But, most of these systems are limited to special situations or applications. This paper deals with different locomotion and adhesion methods for climbing robots and presents characteristics, challenges and applications for these systems. Based on a given set of requirements these principles are examined and in terms of a comprehensive state-of-the-art more than hundred climbing robots are presented. Finally, this schematics is applied to design aspects of a wall-climbing robot which should be able to inspect large concrete buildings.

Research on the Optimization and Adjustment for the Locomotive Overhaul Layout

In order to keep national economys sustainable, rapid and coordinated development, developing the railway is the strategic choice to realize the great rejuvenation of the Chinese nation. Through the optimization of productivity layout, optimize locomotives, locomotive maintenance equipment resources configuration, can not only improve the efficiency of railway transportation, but also reduce the national financial investment. This thesis studies the locomotive overhaul layout optimization adjustment method, established the locomotive overhaul layout optimization adjustment model and corresponding algorithm of the design model. Based on the analysis of the nature of the problem, makes the minimum cost as the objective function, a bi-level programming model is established, and by using iterative idea, design double iterative optimization algorithm to solve the bi-level programming model.

목표 ZMP 궤적 기반 휴머노이드 로봇 이족보행의 최적 관절궤적 생성

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

Tether Based Locomotion for Astronaut Support Robot Introduction of Robot Experiment on JEM

An astronaut support robot called Astrobot will conduct tasks to reduce workloads of astronauts and risks of hazardous incidents that include astronauts. To realize Astrobot, new technologies must be developed such as robot locomotion capability to move robot’s location so that it arrives at required workplace and returns to its storage position. We are proposing a new type of robot locomotion method that uses tethers. JAXA is conducting experiments called Robot Experiment on Japanese Experiment Module or REX-J, to evaluate the usefulness of these new technologies. This paper discusses REX-J’s tether based locomotion control. This proposed tether locomotion control is defined as an under-actuated cable driven parallel manipulator. This system is difficult to control because tethers easily become slack in microgravity environment in orbit, which instantly changes their state. To cope with this problem, model-based control method using statics analysis is proposed as slackless control in microgravity environment. The proposed sequential tether length and tension control were tested using a breadboard model. REX-J onboard equipment was transported to the ISS/JEMin July 2012 and many experiments are now being conducted.

Cell Migration with Multiple Pseudopodia: Temporal and Spatial Sensing Models

Cell migration triggered by pseudopodia (or "false feet") is the most used method of locomotion. A 3D finite element model of a cell migrating over a 2D substrate is proposed, with a particular focus on the mechanical aspects of the biological phenomenon. The decomposition of the deformation gradient is used to reproduce the cyclic phases of protrusion and contraction of the cell, which are tightly synchronized with the adhesion forces at the back and at the front of the cell, respectively. First, a steady active deformation is considered to show the ability of the cell to simultaneously initiate multiple pseudopodia. Here, randomness is considered as a key aspect, which controls both the direction and the amplitude of the false feet. Second, the migration process is described through two different strategies: the temporal and the spatial sensing models. In the temporal model, the cell "sniffs" the surroundings by extending several pseudopodia and only the one that receives a positive input will become the new leading edge, while the others retract. In the spatial model instead, the cell senses the external sources at different spots of the membrane and only protrudes one pseudopod in the direction of the most attractive one.

Design of the Locomotion and Docking System of the SwarmItFIX Mobile Fixture Agent

The European project SwarmItFIX has developed a new highly adaptable self-reconfiguring fixturing system which uses a swarm of mobile agents moving freely on a bench and repositioning in real time to better support the machined part. The project investigates the application of robotic multi-agent fixtures for the support of automotive and airplane body panels during their manufacturing and assembly. Each fixturing robot comprises an adjustable end effector, a parallel manipulator, and a mobile-base-docking-bench module. This paper describes the base-bench subsystem which ensures rapid and precise locomotion, as well as secure docking, of the agent during the machining process. The design addresses with particular care the need for a reliable bench-robot coupling and interface as well as the requirement for robustness of the robot's displacements despite the predicaments of the machining environment, such as flying chips, accumulated swarf, spilled fluids, and vibrations. After a brief review of the state of the art, an overview of the whole project is given. Various candidate robot-base designs and locomotion methods are considered and compared. The final design, selected on the basis of the industrial requirements, is described in detail. A prototype of the SwarmItFIX system has been realized within the project and tested on the premises of an Italian aircraft manufacturer.

207 多脚全方位車輪型レスキューロボットの移動方式の検討(ロボティクスI)

207 多脚全方位車輪型レスキューロボットの移動方式の検討(ロボティクスI)

Lubrication Behavior of Slug Mucus

Crawling worms such as slugs are natural tribological species able to deal with varied surface textures as they crawl. Slug mucus has the ability to act as both an adhesive and a lubricant. In order to understand the principles behind slugs’ crawling motion, the frictional behavior of slug mucus was studied, as well as its rheological and morphological properties. The solid constituents of the mucus were confirmed by means of nuclear magnetic resonance. A shear thinning behavior was observed using a rheometer. Slug mucus has a low friction coefficient, and the presence of water enhanced its capacity as a lubricant. The nano-scale physical structure of the solid constituents of the slug mucus was determined by means of atomic force microscopy. It was found that the macro-scale shear thinning behavior works in conjunction with the slug’s method of locomotion to provide lubrication for sliding and gel-like adhesion. This overlooked animal might offer a world of intelligent design in engineering biomimetic systems that can both adhere and slide simultaneously. Furthermore, biodegradable and water-compatible features of slug mucus shed light on the formulation of a new generation of lubricants.

Biomimetics Micro Robot with Active Hardware Neural Networks Locomotion Control and Insect-Like Switching Behaviour

In this paper, we presented the 4.0, 2.7, 2.5 mm, width, length, height size biomimetics micro robot system which was inspired by insects. The micro robot system was made from silicon wafer fabricated by micro electro mechanical systems (MEMS) technology. The mechanical system of the robot was equipped with small size rotary type actuators, link mechanisms and six legs to realize the insect-like switching behaviour. In addition, we constructed the active hardware neural networks (HNN) by analogue CMOS circuits as a locomotion controlling system. The HNN utilized the pulse-type hardware neuron model (P-HNM) as a basic component. The HNN outputs the driving pulses using synchronization phenomena such as biological neural networks. The driving pulses can operate the actuators of the biomimetics micro robot directly. Therefore, the HNN realized the robot control without using any software programs or A/D converters. The micro robot emulated the locomotion method and the neural networks of an insect with rotary type actuators, link mechanisms and HNN. The micro robot performed forward and backward locomotion, and also changed direction by inputting an external trigger pulse. The locomotion speed was 26.4 mm/min when the step width was 0.88 mm.

Using computational and mechanical models to study animal locomotion.

Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms' performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locomotion that is characterized by the interactions of fluids, substrates, and structures. Despite the large body of recent work in this area, the application of mathematical and numerical methods to improve our understanding of organisms in the context of their environment and physiology has remained relatively unexplored. Nature has evolved a wide variety of fascinating mechanisms of locomotion that exploit the properties of complex materials and fluids, but only recently are the mathematical, computational, and robotic tools available to rigorously compare the relative advantages and disadvantages of different methods of locomotion in variable environments. Similarly, advances in computational physiology have only recently allowed investigators to explore how changes at the molecular, cellular, and tissue levels might lead to changes in performance at the organismal level. In this article, we highlight recent examples of how computational, mathematical, and experimental tools can be combined to ultimately answer the questions posed in one of the grand challenges in organismal biology: "Integrating living and physical systems."

DEVELOPMENT OF VERTICAL GROUND REACTION FORCE AFTER HIP SURGERY

Human walking as a method of locomotion, enabling individuals move from place to place, is completely unique throughout the animal kingdom and strictly specific to species Homo sapiens sapiens [Dungl, 2005]. This study deals with the development of the vertical walking dynamics after hip surgery. An essential role after the Total hip arthroplasty (THA) surgery is played by rehabilitation and work of the physiotherapist, which lead to improved physical condition of the patient. Most patients experience pain relief and improvement in joint function and mobility after THA. This study deals with the dynamic analysis of walking in a period of four months after THA surgery, when the patients completed their rehabilitation. Information about the development of vertical reaction force can thus be used to correct the timing of the rehabilitation process after total hip arthroplasty and can help the patient to quickly return to normal life.

Unaltered Instrumental Learning and Attenuated Body-Weight Gain in Rats During Non-rotating Simulated Shiftwork

Exposure to shiftwork has been associated with multiple health disorders and cognitive impairments in humans. We tested if we could replicate metabolic and cognitive consequences of shiftwork, as reported in humans, in a rat model comparable to 5 wks of non-rotating night shifts. The following hypotheses were addressed: (i) shiftwork enhances body-weight gain, which would indicate metabolic effects; and (ii) shiftwork negatively affects learning of a simple goal-directed behavior, i.e., the association of lever pressing with food reward (instrumental learning), which would indicate cognitive effects. We used a novel method of forced locomotion to model work during the animals' normal resting period. We first show that Wistar rats, indeed, are active throughout a shiftwork protocol. In contrast with previous findings, the shiftwork protocol attenuated the normal weight gain to 76 ± 8 g in 5 wks as compared to 123 ± 15 g in the control group. The discrepancy with previous work may be explained by the concurrent observation that with our shiftwork protocol rats did not adjust their between-work circadian activity pattern. They maintained a normal level of activity during the “off-work” periods. In the control experiment, rats were kept active during the dark period, normally dominated by activity. This demonstrated that forced activity, per se, did not affect body-weight gain (mean±SEM: 85 ± 11 g over 5 wks as compared to 84 ± 11 g in the control group). Rats were trained on an instrumental learning paradigm during the fifth week of the protocol. All groups showed equivalent increases in lever pressing from the first (3.8 ± .7) to the sixth (21.3 ± 2.4) session, and needed a similar amount of sessions (5.1 ± .3) to reach a learning criterion (≥27 out of 30 lever presses). These results suggest that while on prolonged non-rotating shiftwork, not fully reversing the circadian rhythm might actually be beneficial to prevent body-weight gain and cognitive impairments. (Author correspondence: C.Leenaars@nin.knaw.nl)

Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope

This paper proposes a magnetically actuated soft capsule endoscope (MASCE) as a tetherless miniature mobile robot platform for diagnostic and therapeutic medical applications inside the stomach. Two embedded internal permanent magnets and a large external magnet are used to actuate the robot remotely. The proposed MASCE has three novel features. First, its outside body is made of soft elastomer-based compliant structures. Such compliant structures can deform passively during the robot-tissue contact interactions, which makes the device safer and less invasive. Next, it can be actively deformed in the axial direction by using external magnetic actuation, which provides an extra degree of freedom that enables various advanced functions such as axial position control, drug releasing, drug injection, or biopsy. Finally, it navigates in three dimensions by rolling on the stomach surface as a new surface locomotion method inside the stomach. Here, the external attractive magnetic force is used to anchor the robot on a desired location, and the external magnetic torque is used to roll it to another location, which provides a stable, continuous, and controllable motion. The paper presents design and fabrication methods for the compliant structures of the robot with its axial deformation and position control capability. Rolling-based surface locomotion of the robot using external magnetic torques is modeled, and its feasibility is tested and verified on a synthetic stomach surface by using a magnetically actuated capsule endoscope prototype.

Locomotion Control of MEMS Micro Robot Using Pulse-Type Hardware Neural Networks

This paper presents the locomotion control of micro electro mechanical systems (MEMS) micro robot. MEMS micro robot demonstrates the locomotion control by the pulse-type hardware neural networks (P-HNN). P-HNN generates oscillatory patterns of electrical activity such as living organisms. The basic component of P-HNN is pulse-type hardware neuron model (P-HNM). P-HNM has same basic features of biological neurons such as threshold, refractory period, spatio-temporal summation characteristics and enables the generation of continuous action potentials. P-HNN was constructed by MOSFETs, can be integrated by CMOS technology. Same as the living organisms P-HNN realized the robot control without using software programs, or A/D converters. The size of micro robot fabricated by the MEMS technology was 4×4×3.5 [mm]. The frame of robot was made of silicon wafer, equipped with rotary type actuators, link mechanisms and 6 legs. MEMS micro robot emulated the locomotion method and the neural networks of the insect by rotary actuators, link mechanisms and P-HNN. As a result, we show that P-HNN can control the forward and backward locomotion of fabricated MEMS micro robot, and also switched the direction by inputting the external trigger pulse. The locomotion speed was 19.5 [mm/min] and the step width was 1.3 [mm].