Multi-mode Locomotion Research Articles

Bubble-Inspired Multifunctional Magnetic Microrobots for Integrated Multidimensional Targeted Biosensing.

Microrobots possessing multifunctional integration are desired for therapeutics and biomedicine applications. However, existing microrobots with desired functionalities need to be fabricated through complex procedures due to their constrained volume, limited manufacturing processes, and lack of effective in vivo observation methods. Inspired by bubbles exhibiting various abilities, we report magnetic air bubble microrobots with simpler structures to simultaneously integrate multiple functions, including microcargo delivery, multimode locomotion, imaging, and biosensing. Contributed by buoyancy and magnetic actuation to overcome obstacles, flexible three-dimensional locomotion is implemented, guaranteeing the integrity of micro-objects adsorbed on the surface of the air bubble microrobot. Introducing air microbubbles enhances the ultrasound imaging capability of microrobots in the vascular system of mice in vivo, facilitating ample medical applications. Moreover, air-liquid reactions endow microrobots with rapid pH biosensing. This work provides a unique strategy to utilize relatively simple air bubbles to achieve the complex functions of microrobots for biomedical applications.

Analysis and Experiment of a Bioinspired Multimode Octopod Robot

Legged robots use isolated footholds to support, which have the merit of good terrain trafficability but lack speed ability. In contrast, wheeled robots have the advantages of high speed and efficiency but only run on flat roads. To improve the moving speed and terrain adaptability of the legged robot, this paper proposes a bioinspired multimode octopod robot with rolling, walking, and obstacle-surmounting modes. First, inspired by the multimode locomotion of the Cebrennus rechenbergi spider, the high-speed mobility of the legged robot is realized in involute kick-rolling mode through the extendable appendages. Then, the foot and appendage trajectories are analyzed by kinematic method and optimized for walking stability. Based on the static and the kinematic analyses, the terrain adaptability is improved by adhesive obstacle-surmounting mode with the assistance of the appendages affiliated to the main feet. The deformable trunk with one DoF is designed to switch between three modes. Finally, a series of dynamic simulations and experiments are carried out to verify the theoretical analyses of the adhesive obstacle-surmounting mode and the mobility of the involute kick-rolling mode. It is shown that the multimode octopod robot can integrate the advantages of high speed and good terrain trafficability from different types of robots and is suitable for performing tasks in unstructured terrains.

A Small-Scale Untethered Tensegrity Robot With High Velocity and Multi Locomotion Modes

A Small-Scale Untethered Tensegrity Robot With High Velocity and Multi Locomotion Modes

Multimode microdimer robot for crossing tissue morphological barrier

Swimming microrobot energized by magnetic fields exhibits remotely propulsion and modulation in complex biological experiment with high precision. However, achieving high environment adaptability and multiple tasking capability in one configuration is still challenging. Here, we present a strategy that use oriented magnetized Janus spheres to assemble the microdimer robots with two magnetic distribution configurations of head-to-side configuration (HTS-config) and head-to-head configuration (HTH-config), achieving performance of multiple tasks through multimode transformation and locomotion. Modulating the magnetic frequency enables multimode motion transformation between tumbling, rolling, and swing motion with different velocities. The dual-asynchronization mechanisms of HTS-config and HTH-config robot dependent on magnetic dipole-dipole angle are investigated by molecular dynamic simulation. In addition, the microdimer robot can transport cell crossing morphological rugae or complete drug delivery on tissues by switching motion modes. This microdimer robot can provide versatile motion modes to address environmental variations or multitasking requirements.

A multi-locomotion clustered tensegrity mobile robot with fewer actuators

Mobile robots with multi locomotion modes have excellent terrain adaptability. However, traditional multi-locomotion mobile robots are usually actuated by a large number of motors, making their structures heavy and bulky. As a result, the controls become complex, the load-to-mass ratio is low, and the energy consumption is high. Inspired by the bio-mechanism of worms, a novel tensegrity-based multi-locomotion mobile robot, named TJUBot, has been designed. It is actuated by only two motors, yet it has the potential to realize three locomotion modes: earthworm-like, inchworm-like, and tumbling locomotion. The design of these three locomotion modes has been implemented based on kinematic and dynamic models, and the driving law of the two motors under each locomotion mode has been established. Notably, the robot’s locomotion has been analyzed under five different terrains. A laboratory prototype of TJUBot has been developed, and experiments demonstrate that the robot can adjust to five types of terrains using the three locomotion modes. For instance, on flat ground, it achieves a maximum velocity of 2.34 BL/min, and it can pass through confined spaces with a minimum height of 1.26 BH. Moreover, the robot can climb slopes with a maximum angle of 7°, overcome obstacles with a maximum height of 0.52 BH, and traverse gaps with a maximum width as 0.35 BL. Herein, BL and BH represent the body length and body height of the robot, respectively. In addition, TJUBot exhibits outstanding performance in terms of its load-to-mass ratio, which is measured at 5.56, and its low energy consumption of 0.69J/m, as observed in experiments. The promising results obtained from these experiments indicate that TJUBot holds significant potential for applications in multi-terrain environments.

Reprogrammable Magnetic Soft Robots Based on Low Melting Alloys

Magnetic soft robots featuring untethered actuation and high mechanical compliance have promising applications ranging from bionics to biomedicine. However, their fixed magnetization profiles pose a challenge for adaptive shape transformation in unpredictable environments and dynamic tasks. Herein, a reprogrammable magnetic soft composite is reported by encapsulating magnetic neodymium–iron–boron microparticles with low melting alloy (LMA) and embedding them into the elastomer. Utilizing the phase transition of the LMA, the magnetic microparticles can be reoriented under an external magnetic field and they can be immobilized through LMA solidification, allowing the robot to obtain a new magnetization profile corresponding to its temporary shape. By changing the LMA composition, the robot with multiple programming temperatures can be fabricated and its local magnetization profiles can be selectively programmed in different temperature ranges. A bioinspired crawler with multimode locomotion, a reconfigurable robotic gripper capable of adaptable grasping, and reconfigurable electronic circuits are also demonstrated. This work may pave the way for the next‐generation magnetic soft robots and reconfigurable devices.

Gait phase recognition of multi-mode locomotion based on multi-layer perceptron for the plantar pressure measurement system

Gait phase recognition of multi-mode locomotion based on multi-layer perceptron for the plantar pressure measurement system

An Insect-Inspired Terrains-Adaptive Soft Millirobot with Multimodal Locomotion and Transportation Capability.

Inspired by the efficient locomotion of insects in nature, researchers have been developing a diverse range of soft robots with simulated locomotion. These robots can perform various tasks, such as carrying medicines and collecting information, according to their movements. Compared to traditional rigid robots, flexible robots are more adaptable and terrain-immune and can even interact safely with people. Despite the development of biomimetic principles for soft robots, how their shapes, morphology, and actuation systems respond to the surrounding environments and stimuli still need to be improved. Here, we demonstrate an insect-scale soft robot with multi-locomotion modes made by Ecoflex and magnetic particles, which can be actuated by a magnetic field. Our robot can realize four distinct gaits: horizontal tumbling for distance, vertical tumbling for height, imitation of gastropod writhing, and inchworm-inspired crawling for cargo delivery. The soft compliant structure and four locomotion modes make the robot ideal for maneuvering in congested or complex spaces. In addition to linear motion (~20 mm/s) and turning (50°/s) on a flat terrain, the robot can also maneuver on various surface conditions (such as gaps, smooth slopes, sand, muddy terrain, and water). These merits, together with the robot’s high load-carrying capacity (5 times its weight), low cost, obstacle-crossing capability (as high as ~50% its length), and pressure resistance (70 kg), allow for a wide variety of applications.

Magnetically Actuated Reactive Oxygen Species Scavenging Nano‐Robots for Targeted Treatment

Magnetic micro/nanorobots (MagRobots) with unparalleled advantages, including remote mobility, high reconfigurability and programmability, lack of fuel requirement, and versatility, can be manipulated under a magnetic field, which has attracted considerable research attention in the biomedicine. Magnetic materials, as the key components of MagRobots, generate reactive oxygen species (ROS) in vivo to induce tissue/organ damage through Fenton/Fenton‐like reactions, which may hinder the clinical application of MagRobots. Here, the biologically active Prussian blue is generated on the surfaces of MagRobots via an in situ reaction to obtain magnetically actuated ROS‐scavenging nano‐robots (ROSrobots). The generated Prussian blue blocks ROS production and endows the MagRobots with additional functionalities, markedly expanding their potential medical applications. Under the action of a magnetic field, the reconfigurable ROSrobots realize multimode transformation, locomotion, and manipulation in complex environments. Importantly, a simple control method is proposed to achieve movement in 3D geometries to allow the completion of tasks in a complex environment. Furthermore, the osteoarthritis (OA) rat model was employed for proof of concept. Notably, under the guidance of ultrasound imaging, ROSrobots can be accurately injected into the articular cavity to actively target the treatment of OA. This research may further promote the clinical application of MagRobots.

Design, hydrodynamic analysis, and testing of a bioinspired controllable wing mechanism with multi-locomotion modes for hybrid-driven underwater gliders

Design, hydrodynamic analysis, and testing of a bioinspired controllable wing mechanism with multi-locomotion modes for hybrid-driven underwater gliders

A small locust inspired actuator driven by shape memory alloys and piezoelectric strips

In order to realize walking and obstacle crossing in a complex terrain, a small locust inspired soft actuator is designed and manufactured. Its appearance size and mass are 80 mm × 40 mm × 45 mm and 6 g, respectively. This actuator can realize both jumping and linear motions, mainly consisting of two shape memory alloy (SMA) springs, four flexible Polyvinyl chloride layers, and four piezoelectric (PZT) bimorphs. The former two materials (SMA and PZT) constitute the catapult mechanism for jumping and recovering; the latter one (PZT) is used as driving legs for walking. A kinematic model is established for motion analysis and parameter optimization, in order to make the actuator keep a stable jump. The calculated and measured results show that it can realize a jump of one body length, crossing an obstacle of more than 15 mm high. It takes 13 s from taking off to recovering for continuous movement. In addition, the maximum linear speed is 82.5 mm s−1 at 160 Vp–p. This actuator with multi-mode locomotion has the characteristics of light weight, stable landing, status recovery, and continuous movement, suitable for exploration and reconnaissance in narrow space.

A novel serial–parallel hybrid worm-like robot with multi-mode undulatory locomotion

Inspired by the morphology characteristics of segmented worms and the combination properties of serial–parallel structures, a novel serial–parallel hybrid worm-like robot with nine degrees of freedom (DOFs) is proposed. This robot is constructed of two symmetrically arranged 3-RPS parallel mechanisms (PMs) with single-DOF expandable platforms. According to the retrograde peristaltic wave that the locomotion mechanism of segmented worms and the kinematics of the robot, four basic gaits of three undulation modes are developed, including start-up adjustment gait and straight-going gait of rectilinear mode, turning gait of lateral undulation mode, and stair-climbing gait of vertical undulation mode. Based on which, the locomotion performance of the robot on four typical terrains including the stair, the slope, the gap, and the narrow passage is discussed. Then the corresponding locomotion controller is designed. Finally, a prototype is manufactured, the experiment results show that the robot can move in an arbitrary given direction for any given distance, and the practical locomotion performance coincides to the theoretical analysis.

Reconfigurable magnetic microrobot swarm: Multimode transformation, locomotion, and manipulation.

Swimming microrobots that are energized by external magnetic fields exhibit a variety of intriguing collective behaviors, ranging from dynamic self-organization to coherent motion; however, achieving multiple, desired collective modes within one colloidal system to emulate high environmental adaptability and enhanced tasking capabilities of natural swarms is challenging. Here, we present a strategy that uses alternating magnetic fields to program hematite colloidal particles into liquid, chain, vortex, and ribbon-like microrobotic swarms and enables fast and reversible transformations between them. The chain is characterized by passing through confined narrow channels, and the herring school-like ribbon procession is capable of large-area synchronized manipulation, whereas the colony-like vortex can aggregate at a high density toward coordinated handling of heavy loads. Using the developed discrete particle simulation methods, we investigated generation mechanisms of these four swarms, as well as the "tank-treading" motion of the chain and vortex merging. In addition, the swarms can be programmed to steer in any direction with excellent maneuverability, and the vortex's chirality can be rapidly switched with high pattern stability. This reconfigurable microrobot swarm can provide versatile collective modes to address environmental variations or multitasking requirements; it has potential to investigate fundamentals in living systems and to serve as a functional bio-microrobot system for biomedicine.

Design of a Robotic Module for Autonomous Exploration and Multimode Locomotion

The mechanical design of a novel robotic module for a self-reconfigurable modular robotic system is presented in this paper. The robotic module, named Scout robot, was designed to serve both as a fully sensorized autonomous miniaturized robot for exploration in unstructured environments and as a module of a larger robotic organism. The Scout robot has a quasi-cubic shape of 105 mm × 105 mm × 123.5 mm, and weighs less than 1 kg. It is provided with tracks for 2-D locomotion and with two rotational DoFs for reconfiguration and macrolocomotion when assembled in a modular structure. A laser sensor was incorporated to measure the distance and relative angle to an object, and image-guided locomotion was successfully demonstrated. In addition, five Scout robot prototypes were fabricated, and multimodal locomotion of assembled robots was demonstrated.

UBot: a new reconfigurable modular robotic system with multimode locomotion ability

PurposeThe purpose of this paper is to introduce the design and the multi‐mode locomotion function of the new reconfigurable modular robotic system – UBot system – which combines the advantages from the chain‐based and lattice‐based self‐reconfigurable robots.Design/methodology/approachThe UBot modules the authors have designed are based on the universal joint and of cubic shape with two rotational joints and reliable automatic connecting mechanism. The modules are compact and flexible enough for locomotion and reconfiguration. The system can move in different modes to satisfy different terrains, through changing the modules' local connections and rotation of modules' joints.FindingsThe UBot system can flexibly move in the modes of cross, loop, quadruped, snake‐type and other type of locomotion modes. All the locomotion has been implemented in the physical experiments.Originality/valueThe UBot module is the new reconfigurable module which has two joints in one unit of regular cubic space and four reliable automatic connecting surfaces. A group of the modules is able to change its connective configuration by changing their local connections and has functionality of the corresponding traditional robotic system. Since it can travel through terrains that may not be fully characterized ahead of time, the system can be used in a large variety of tasks, such as transportation, assembly, inspection and exploration.

MiniBibot:A Miniature Modular Biped Robot with Multi-locomotion Modes

Inspired by the climbing motion of animals such as inchworm,a miniature biped robot with multi-locomotion modes is developed,named MiniBibot,driven by servo motors.The robotic system is designed and built with modular methodology.The processes and methods to develop user's program are illustrated with the control instance of climbing poles. According to the robot's configuration,five realizable locomotion modes are proposed,and their features and applications are analyzed.A series of experiments with this miniature biped robot are conducted to illustrate and verify the effectiveness and feasibility of the proposed robotic system and its multi-locomotion modes.