Locomotion Strategy Research Articles

A review on soft in-pipe navigation robot from the perspective of material, structure, locomotion strategy, and actuation technique

Abstract Pipelines are used in many sectors to transport materials such as fluid from one place to another. These pipelines require regular inspection and maintenance to ensure proper operations and to avoid accidents. Many in-pipe navigation robots have been developed to perform the inspection. Soft in-pipe navigation robot is a special class of in-pipe robot, where the structure is made entirely of soft materials. The soft in-pipe robots are cheaper, lightweight, robust, and more adaptable to the environment inside pipelines as compared to the traditional rigid in-pipe navigation robot. This paper reviews the design of different types of soft in-pipe navigation in terms of the material, structure, locomotion strategy, and actuation techniques. These four different aspects of the design help researchers to narrow down their research and explore different opportunities within each of the design aspects. This paper also offers suggestions on the direction of research to improve the current soft in-pipe navigation robot design.

Gait planning of a 4–5R rolling mechanism based on the planar 6R single-loop chain

Abstract. This paper proposes a 4–5R rolling mechanism based on the spatial extension design of a planar 6R single-loop chain. By analyzing the locomotion of the planar equivalent form, a modular gait theory integrating different modes of gait with high efficiency, low energy consumption, and high speed is established. A unified kinematic strategy expression, encapsulated in the form of the gait period table, is tailored for the kinematic chain's gait on the flat terrain. A contrast gait is conducted to ascertain its velocity parameters and volatility of the center of mass (CM). By optimizing the corresponding indicators, two distinct gait patterns are achieved: a faster speed gait that prioritizes increased speed and a steady gait that emphasizes stability with reduced CM volatility. Drawing from the mobility analysis and simulation outcomes of the planar 6R single-loop kinematic chain, a theory of locomotion for a closed-chain linkage mechanism in space is proposed. A locomotion strategy on the flat ground is derived, and a unified evaluation index is proposed. Finally, the feasibility of the two working modes is verified using a physical prototype. The theoretical work in this paper simplifies the design process of closed-chain linkage robots and improves the mobility performance of closed-chain linkage robots. It lays the foundation for researching new types of closed-chain linkage robots.

Effects of cybersickness mitigation methods on behavior: a comparative study based on the skill–rule–knowledge model

Cybersickness (CS) is a pressing issue in virtual reality (VR) systems. While various mitigation methods (MMs) have been developed to counteract CS, their effects on human behavior remain largely unexplored, raising concerns about their potential applications. Using Jens Rasmussen’s skill–rule–knowledge (SRK) model as a framework, our study investigated the effects of two widely adopted MMs—dynamic field of view and dynamic blurring—in VR. We compared these methods to a baseline condition where no MM was applied. We designed three VR tasks that align with the behavioral levels of the SRK model. In a within-subject study (N = 22), participants completed each task using these MMs. We measured task performance, CS symptoms, and locomotion control. Additionally, qualitative feedback was collected. Our results revealed that neither MM significantly alleviated CS across different VR scenarios. Furthermore, while some participants found MMs helpful, a larger portion reported visual hindrances, and a significant performance drop was measured in the skill-based task. More critically, participants indicated behavioral adaptations in response to the MMs, including changes in locomotion strategies and viewing behavior. Potential causes and implications were discussed. In conclusion, MMs offer promise, but their application necessitates a nuanced understanding of their impacts. We recommend a context-sensitive approach when designing and integrating MMs, prioritizing both maximizing CS mitigation and minimizing interference with the natural behaviors of users.

Center of mass mechanics during locomotion in the arboreal squirrel monkey (Saimiri sciureus) as a function of speed and substrate.

It is thought that the magnitude of center of mass (COM) oscillations can affect stability and locomotor costs in arboreal animals. Previous studies have suggested that minimizing collisional losses and maximizing pendular energy exchange are effective mechanisms to reduce muscular input and energy expenditure during terrestrial locomotion. However, few studies have explored whether these mechanisms are used in an arboreal context, where stability and efficiency often act as tradeoffs. This study explores three-dimensional center of mass mechanics in an arboreal primate-the squirrel monkey (Saimiri sciureus)-moving quadrupedally at various speeds on instrumented arboreal and terrestrial supports. Using kinetic data, values of energy recovery, center of mass mechanical work and power, potential and kinetic energy congruity, and collision angle and fraction were calculated for each stride. Saimiri differed from many other mammals by having lower energy recovery. Although few differences were observed in center of mass mechanics between substrates at low or moderate speeds, as speed increased, center of mass work was done at a much greater range of rates on the pole. Collision angles were higher, while collision fractions and energy recovery values were lower on the pole, indicating less moderation of collisional losses during arboreal versus terrestrial locomotion. These data support the idea that the energetic demands of arboreal and terrestrial locomotion differ, suggesting that arboreal primates likely employ different locomotor strategies compared to their terrestrial counterparts-an important factor in the evolution of arboreal locomotion.

External Steering of Vine Robots via Magnetic Actuation.

This article explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies, present unique shape adaptation capabilities that allow passive deformation around obstacles. However, without additional steering mechanisms, they lack the ability to actively select the desired direction of growth. The principles of magnetically steered growing robots are discussed, and experimental results showcase the effectiveness of the proposed magnetic actuation approach. We present a 25-mm-diameter vine robot with an integrated magnetic tip capsule, including 6 degrees of freedom (DOF) localization system and camera, and demonstrate a minimum bending radius of 3.85 cm with an internal pressure of 30 kPa. Furthermore, we evaluate the robot's ability to form tight curvature through complex navigation tasks, with magnetic actuation allowing for extended free-space navigation without buckling. The suspension of the magnetic tip was also validated using the 6 DOF localization system to ensure that the shear-free nature of vine robots was preserved. Additionally, by exploiting the magnetic wrench at the tip, we showcase preliminary results of vine retraction. The findings contribute to the development of controllable vine robots for endoluminal applications, providing high tip force and shear-free navigation.

A new “silesaurid” from the oldest dinosauromorph-bearing beds of South America provides insights into the early evolution of bird-line archosaurs

Investigations regarding the early evolutionary history of bird-line archosaurs have undergone significant advancements in recent years. However, controversies remain, especially regarding the phylogenetic position of “silesaurids”. Whereas some hypotheses place these archosaurs as the sister-group to dinosaurs, others suggest that “silesaurids” are early ornithischian dinosaurs. Despite the phylogenetic disputes, “silesaurids” are a crucial group for comprehending the origins and early evolution of dinosaurs. In the present study, a new “silesaurid” from the Middle-Upper Triassic of Southern Brazil is described. Gondwanax paraisensis gen. et sp. nov. comes from the Dinodontosaurus Assemblage Zone of the Santa Maria Formation (Ladinian-Carnian boundary), representing one of the oldest “silesaurids” worldwide. Furthermore, Gondwanax paraisensis gen. et sp. nov is the oldest “silesaurid” with three sacral vertebrae, a feature usually observed in more derived forms. In addition, distinct from any other Triassic Pan-Aves, the new taxon bears an incipient fourth trochanter of the femur. This unique combination of features indicates a high diversity of locomotor strategies among early pan-avians. The co-occurrence of Gondwanax paraisensis gen. et sp. nov. and Gamatavus antiquus in the same Assemblage Zone represents the oldest evidence of sympatry among “silesaurids” in South America. Indeed, the unique combination of sacral and hindlimb features may suggest distinct behaviors for these species, potentially leading to niche differentiation within the same ecosystems.

Vibration-Induced-Flow Mechanism and Its Application in Water Surface Robot.

Vibration is a common strategy for aquatic organisms to achieve their life activities, especially at the air-water interface. For the locomotion of small creatures, the organs with plate features are often used on water surfaces, which inspires relevant studies about using thin plates for robot propulsions. However, the influence of the general deformations of thin plates on the generated flow fields has not been considered. Here, a comprehensive investigation is conducted about the flow fields that arose by vibrations of thin plates and the potential as locomotion strategies are explored. It is discovered that as thin plates are subjected to vibration excitations on the water surface, the produced flow fields are mainly determined by the vibration shapes, and the influence rules of plate deformations on the flow fields are identified. The main factors producing asymmetric flow fields are analyzed to realize the morphology control of the flow fields. Then, to determine effective locomotion strategies on the water surface, the flow fields stimulated by integrated vibration exciters are explored, and 2 water surface robots are developed consequentially, which exhibit superior motion performance. This work reveals the basic rules of the vibration-induced-flow mechanism by thin plates and establishes new locomotion strategies for aquatic robots.

Learning Soft Millirobot Multimodal Locomotion with Sim-to-Real Transfer.

With wireless multimodal locomotion capabilities, magnetic soft millirobots have emerged as potential minimally invasive medical robotic platforms. Due to their diverse shape programming capability, they can generate various locomotion modes, and their locomotion can be adapted to different environments by controlling the external magnetic field signal. Existing adaptation methods, however, are based on hand-tuned signals. Here, a learning-based adaptive magnetic soft millirobot multimodal locomotion framework empowered by sim-to-real transfer is presented. Developing a data-driven magnetic soft millirobot simulation environment, the periodic magnetic actuation signal is learned for a given soft millirobot in simulation. Then, the learned locomotion strategy is deployed to the real world using Bayesian optimization and Gaussian processes. Finally, automated domain recognition and locomotion adaptation for unknown environments using a Kullback-Leibler divergence-based probabilistic method are illustrated. This method can enable soft millirobot locomotion to quickly and continuously adapt to environmental changes and explore the actuation space for unanticipated solutions with minimum experimental cost.

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.

Snail-inspired water-enhanced soft sliding suction for climbing robots

Snails can stably slide across a surface with only a single high-payload sucker, offering an efficient adhesive locomotion mechanism for next-generation climbing robots. The critical factor for snails’ sliding suction behaviour is mucus secretion, which reduces friction and enhances suction. Inspired by this, we proposed an artificial sliding suction mechanism. The sliding suction utilizes water as an artificial mucus, which is widely available and evaporates with no residue. The sliding suction allows a lightweight robot (96 g) to slide vertically and upside down, achieving high speeds (rotation of 53°/s and translation of 19 mm/s) and high payload (1 kg as tested and 5.03 kg in theory), and does not require energy during adhesion. Here, we show that the sliding suction is a low-cost, energy-efficient, high-payload and clean adhesive locomotion strategy, which has high potential for use in climbing robots, outdoor inspection robots and robotic transportation.

Finite element analysis of kangaroo astragali: A new angle on the ankle.

Using finite element analysis on the astragali of five macropodine kangaroos (extant and extinct hoppers) and three sthenurine kangaroos (extinct proposed bipedal striders) we investigate how the stresses experienced by the ankle in similarly sized kangaroos of different hypothesized/known locomotor strategy compare under different simulation scenarios, intended to represent the moment of midstance at different gaits. These tests showed a clear difference between the performance of sthenurines and macropodines with the former group experiencing lower stress in simulated bipedal strides in all species compared with hopping simulations, supporting the hypothesis that sthenurines may have utilized this gait. The Pleistocene macropodine Protemnodon also performed differently from all other species studied, showing high stresses in all simulations except for bounding. This may support the hypothesis of Protemnodon being a quadrupedal bounder.

Actuation strategy characterizations of a vibro-impact crawling robot driven by dielectric elastomer actuators

Vibro-impact crawling robots driven by the emerging dielectric elastomer actuators (DEAs) feature the advantages of reduced system complexity and bidirectional locomotion capability. However, due to the lack of systematic dynamic models and in-depth investigations, the fundamental locomotion principles of the robots are still unclear and therefore their applications in real-world scenarios remain hindered. In this paper, a comprehensive dynamic model of this robot is developed by considering the complex interactions between the electro-mechanical coupling, impact mechanism, and multiple nonlinear friction characteristics. By incorporating extensive modeling and experimental studies, we explain the fundamental principles that lead to the bidirectional locomotion of the robot. The actuation strategies for both forward and backward locomotion are characterized in-depth, which include the actuation frequencies, relative phases, and waveforms. Three typical contact surface cases (i.e. rigid & dry, rigid & viscous, compliant & viscous) are considered in this paper, where we report the changes in the optimal actuation strategies for bidirectional locomotion with the contact surfaces and reveal the influences of key factors of friction coefficient, viscosity, and material compliance. The key findings reported in this work can build foundations for developing a highly robust and efficient DEA-driven vibro-impact crawling robot for broad applications.

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.

The influence of the land-to-sea macroevolutionary transition on vertebral column disparification in Pinnipedia.

The repeated returns of vertebrates to the marine ecosystems since the Triassic serve as an evolutionary model to understand macroevolutionary change. Here we investigate the effects of the land-to-sea transition on disparity and constraint of the vertebral column in aquatic carnivorans (Carnivora; Pinnipedia) to assess how their functional diversity and evolutionary innovations influenced major radiations of crown pinnipeds. We use three-dimensional geometric morphometrics and multivariate analysis for high-dimensional data under a phylogenetic framework to quantify vertebral size and shape in living and extinct pinnipeds. Our analysis demonstrates an important shift in vertebral column evolution by 10-12 million years ago, from an unconstrained to a constrained evolutionary scenario, a point of time that coincides with the major radiation of crown pinnipeds. Moreover, we also demonstrate that the axial skeleton of phocids and otariids followed a different path of morphological evolution that was probably driven by their specialized locomotor strategies. Despite this, we found a significant effect of habitat preference (coastal versus pelagic) on vertebral morphology of crown taxa regardless of the family they belong. In summary, our analysis provides insights into how the land-to-sea transition influenced the complex evolutionary history of pinniped vertebral morphology.

Energy-recoverable landing strategy for small-scale jumping robots

Small-scale jumping robots widely employ the pause-and-leap locomotion strategy. They use elastic elements to enhance the jumping performance, which is promising for locomotion over rugged terrain. However, these robots typically lose a significant amount of mechanical energy during landing, which is initially accumulated for takeoff, resulting in wasted energy. Here, we propose a landing strategy that uses a jumping mechanism with controlled mono-stable or bi-stable characteristics to achieve the energy recoverable landing. By adjusting the jumping mechanism to an appropriate bi-stable state before landing, the robot’s extended leg retracts to its pre-jump configuration upon touchdown, enabling the recapture of mechanical energy within the springs. We develop analytical models for the touchdown collision and landing dynamics. A 165 g robot prototype is constructed, featuring integrated sensing, actuation, and computations. Both simulations and experiments are conducted to explore the effects of various factors on the landing behavior. Experiments demonstrate successful landings with energy recovery ratio exceeding 50% across different landing trajectories. This landing strategy holds significant potential for enhancing the locomotion efficiency of future small-scale jumping robots.

Amphibious Robots Locomotion Strategies in Unstructured Complex Environments: A Review

In the previous literature, amphibious robots focused mainly on locomotion in underwater and flat land surface manoeuvring. Few amphibious robots focused on unstructured land environments. The amphibious robot designs were more emphasised in academics, leading to more work done in building amphibious robots that mimic biological amphibians, imitating the geometry and overall functionality of the amphibious robots. Developing amphibious robots with propulsive mechanisms for manoeuvring in a water environment received more attention than other functionalities like adaptability on rough natural terrain and obstacle repositioning capability. However, practical applications like reconnaissance and surveying posed challenges in the ground environment, which had unstructured and complex terrain profiles, especially in the transition area. Therefore, reviewing the amphibious robots focused on manoeuvring complex uneven surfaces was essential. The literature had comprehensive review papers on navigation strategies encompassing manoeuvring on flat ground surfaces and underwater locomotion. There was a need for a focused study that highlighted the amphibious robot that manoeuvred in an unstructured land environment. The open challenges and recent solutions by designing new mechanisms and deployment issues were highlighted and reviewed. Hence, the paper addressed a more specific review of amphibious robot locomotion in an unstructured environment. The paper also discussed a case study of an amphibious robot capable of locomotion in unstructured environments. It was envisaged that the review would provide directions and insights to researchers and robotic system designers on developing robust propulsive mechanisms for amphibious robots capable of locomotion in unstructured environments.Keywords: manoeuvrability, mobility, terrain, unified locomotion, mechanism, propulsion

A Study on the Effect of Belly‐Dragging Locomotion on a Robot that Mimics a Heavy Reptile

This study investigates the effect of tortoise‐inspired locomotion on enhancing energy efficiency in legged robots. Tortoises, known for their high locomotion efficiency, provide a unique model for robot and gait design, where their specific gait and posture significantly contribute to energy efficiency. This study hypothesizes that the gait and belly‐dragging posture of tortoises can improve the energy efficiency of robots. To test this hypothesis, a quadruped robot mimicking these tortoise characteristics is developed, utilizing the cost of transport (CoT) as a measure of energy efficiency. Dynamic simulations and real‐world experiments are conducted, varying parameters like robot size, mass, friction coefficient, and Froude number, to validate the generality of the findings. The results indicate that both belly dragging, a postural characteristic of tortoises, and their diagonal gait significantly lower the robot's CoT. This suggests that the energy‐efficient locomotion of tortoises, specifically the diagonal gait with belly dragging, is transferable to robotic platforms to enhance energy efficiency. The tortoise‐inspired robot design offers significant potential in applications such as search and rescue operations, space exploration, and payload transportation. Furthermore, the tortoise‐inspired locomotion strategy can be effectively integrated with other research focusing on energy efficiency improvements through mechanical structures or control strategies.

Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots.

Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric-pneumatic actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monoped robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, (1) provide opportunities to study different locomotor subfunctions-stance, swing, and balance; (2) help investigate the role of actuation schemes in tasks such as hopping and walking; and (3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.

Amphibian-Inspired Locomotion Strategy for a Slime-Based Magnetic Soft Robot

Amphibian-Inspired Locomotion Strategy for a Slime-Based Magnetic Soft Robot

INSIGHTS INTO HUMAN LOCOMOTION STRATEGIES AND MOTOR LEARNING FOR AN AGEING POPULATION USING TRANSFER TESTING AND COUPLED SIMULATIONS

The elucidation of human locomotion strategies has potential applications in the prevention of sarcopenia and in the reduction of falls. Given the diverse biochemical, mechanical and functional age-related changes seen in the neuro-musculoskeletal system, the decline in motor function is difficult to study experimentally. In this study, we use transfer testing and coupled simulation strategies within a deep reinforcement learning environment to better understand the complex problem of motor control adaptation to age-related changes. Using transfer testing, a 3D musculoskeletal model is separately trained on parameters of the young adult model (Y) for either forward or backward falls after completing two steps forward, and tested using a 30% age-related reduction for all parameters (M_all). This strategy produces a backward fall for a forwardly trained simulation, showing potential sensitivity of these parameters to a given fall direction. Second, a coupled simulation solution is used to simulate recovery from falls by considering the center-of-mass position relative to the base of support. Results for the M_all trained model showed a longer simulation time and a greater vertical pelvis velocity with a maximal value of 4.26[Formula: see text]m/s. In particular, the results of the coupled simulations clearly show that both the young and M_all condition models respond with a step back and stronger leg extensor activations to propel the model forward to recover from the simulated fall. We developed a novel coupling between transfer testing and coupled simulation strategies to improve upon muscle models for characterizing muscle function, and also to begin testing different hypotheses, such as the strategy and force required to avoid a fall at different limits. This opens new avenues for precision rehabilitation with patient-specific muscle-driven recovery exercises.