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Applied Sciences
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Control and Application for Biorobotics
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Control and Application for Biorobotics

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: 25 July 2025 | Viewed by 4015

Special Issue Editors

Dr. Zhenyun Shi

E-Mail Website
Guest Editor
School of Mechanical Engineering, Beihang University, Beijing 100191, China
Interests: soft robotics; smart material; continuum robotics
Dr. Ziyu Liu

E-Mail Website
Guest Editor
School of Aeronautic Science and Engineering/School of Engineering Medicine, Beihang University, Beijing 100191, China
Interests: biofuels; aircraft design; bionic engineering
Special Issues, Collections and Topics in MDPI journals
Dr. Yufei Hao

E-Mail Website
Guest Editor
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China
Interests: soft gripper; soft sensor; bionic robotics

Special Issue Information

Dear Colleagues,

The field of biorobotics is rapidly evolving, offering innovative solutions that bridge the fields of biology and robotics in order to address complex challenges. This Special Issue focuses on the control and application of biorobotics, encompassing a wide range of biosoftics; this includes, but is not limited to, soft robotics, continuum robotics, bioinspired aerial robotics, climbing robots, legged robotics, origami robotics, nanorobots, humanoid robots, and swarm robotics. By leveraging biological principles, biorobots can achieve unprecedented levels of adaptability, precision, and efficiency. The key areas of interest include novel control models, advanced actuation and sensing technologies, and practical applications in various domains such as healthcare, environmental monitoring, complex condition detection, and industrial automation. This Special Issue aims to provide a comprehensive overview of recent advancements, theoretical developments, and practical implementations in the field of biorobotics, encouraging interdisciplinary collaboration and the dissemination of cutting-edge research.

Dr. Zhenyun Shi
Dr. Ziyu Liu
Dr. Yufei Hao
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • soft robotics
  • continuum robotics
  • bioinspired aerial robotics
  • climbing robots
  • origami robotics
  • nanorobotics
  • humanoid robots
  • swarm robotics
  • adaptive systems
  • precision engineering

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Published Papers (4 papers)

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Research

20 pages, 9029 KiB  
Article
Enhancing Continuum Robotics Accuracy Using a Particle Swarm Optimization Algorithm and Closed-Loop Wire Transmission Model for Minimally Invasive Thyroid Surgery
by Na Guo, Haoyun Zhang, Xingshuai Li, Xinnan Cui, Yang Liu, Jiachen Pan, Yajuan Song and Qinjian Zhang
Appl. Sci. 2025, 15(4), 2170; https://doi.org/10.3390/app15042170 - 18 Feb 2025
Viewed by 290
Abstract
To address the challenges of confined workspaces and high-precision requirements in thyroid surgery, this paper proposes a modular cable-driven robotic system with a hybrid rigid–continuum structure. By integrating rigid mechanisms and continuum joints within a closed-loop cable-driven framework, the system achieves a balance [...] Read more.
To address the challenges of confined workspaces and high-precision requirements in thyroid surgery, this paper proposes a modular cable-driven robotic system with a hybrid rigid–continuum structure. By integrating rigid mechanisms and continuum joints within a closed-loop cable-driven framework, the system achieves a balance between flexibility in narrow spaces and operational stiffness. To tackle kinematic model inaccuracies caused by manufacturing errors, an innovative joint decoupling strategy combined with the Particle Swarm Optimization (PSO) algorithm is developed to dynamically identify and correct 19 critical parameters. Experimental results demonstrate a 37.74% average improvement in repetitive positioning accuracy and a 52% reduction in maximum absolute error. However, residual positioning errors (up to 4.53 mm) at motion boundaries highlight the need for integrating nonlinear friction compensation. The feasibility of a safety-zone-based force feedback master–slave control strategy is validated through Gazebo simulations, and a ring-grasping experiment on a surgical training platform confirms its clinical applicability. Full article
(This article belongs to the Special Issue Control and Application for Biorobotics)
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27 pages, 6317 KiB  
Article
Research on the Flight Performance of Biomimetic Moth Based on Flapping Function Control
by Yaxin Liu, Wenda Wang, Ruiqing Han, Qili Sun and Ming Zhong
Appl. Sci. 2025, 15(3), 1606; https://doi.org/10.3390/app15031606 - 5 Feb 2025
Viewed by 418
Abstract
Flapping flight is an important mode of insect flight, and its unique flapping motion pattern enables it to fly efficiently in complex environments. This paper takes a biomimetic moth flapping-wing aircraft as the research object and proposes a periodic function composed of two [...] Read more.
Flapping flight is an important mode of insect flight, and its unique flapping motion pattern enables it to fly efficiently in complex environments. This paper takes a biomimetic moth flapping-wing aircraft as the research object and proposes a periodic function composed of two sine functions with different frequencies as the flapping function. This paper explores the effect of this flapping function on the flight performance of flapping-wing aircraft and verifies whether it can be applied to the flight control of flapping-wing aircraft. Firstly, through the study of biomimetic mechanisms, the basic structure of the flapping-wing aircraft is roughly designed; then, the flapping motion is simplified, a rigid wing flapping motion model is established, and the key parameters affecting the average lift are determined. Next, a virtual wind tunnel simulation platform is built, and the key parameters of the flapping function that affect lift generation are simulated and calculated. Finally, an experimental prototype of a biomimetic moth flapping-wing aircraft is designed and manufactured. Through flight experiments, the effects of flapping amplitude, flapping frequency, and mid-position angle in the flapping function on the flight performance of the biomimetic flapping-wing aircraft are verified. The key control parameters are clarified, the control strategy of the flapping-wing aircraft is optimized, and the maneuverability and controllability of the aircraft are improved, providing a theoretical basis and practical support for the development of control methods for biomimetic flapping-wing aircraft. Full article
(This article belongs to the Special Issue Control and Application for Biorobotics)
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20 pages, 9800 KiB  
Article
Design and Analysis of Yoshimura Tubular Origami Mechanisms
by Chang Wang, Dongyang Xu, Shanyuan Song, Yanzhi Zhao and Jianhua Zhang
Appl. Sci. 2024, 14(24), 12048; https://doi.org/10.3390/app142412048 - 23 Dec 2024
Viewed by 546
Abstract
The Yoshimura tubular origami mechanism possesses numerous advantageous properties and, when integrated with advanced material technologies, can be applied across various engineering disciplines. However, current research on Yoshimura origami predominantly focuses on centrally symmetric tubular origami mechanisms, which restricts the structural forms and [...] Read more.
The Yoshimura tubular origami mechanism possesses numerous advantageous properties and, when integrated with advanced material technologies, can be applied across various engineering disciplines. However, current research on Yoshimura origami predominantly focuses on centrally symmetric tubular origami mechanisms, which restricts the structural forms and motion patterns of these mechanisms. Drawing inspiration from the biological concept of “morphological variation,” we propose a novel tubular origami mechanism based on the Yoshimura pattern, which is the main contribution of this research. We analyze the Yoshimura planar crease elements and introduce both heterocellular and homocellular tubular origami mechanisms. Furthermore, we establish the origami topology matrices for the Yoshimura tubular origami mechanisms. This research also investigates complex motion forms that differ from traditional Yoshimura origami mechanisms, including macroscopic twisting and compound movements, thereby providing an intuitive design approach and extensive structural guidance for research in Yoshimura tubular origami engineering. Based on the tubular origami mechanism, we created an origami robot and investigate its motion characteristics. Full article
(This article belongs to the Special Issue Control and Application for Biorobotics)
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27 pages, 10348 KiB  
Article
Design of a Bionic Spider Robot with a Two-Degrees-of-Freedom Leg Structure and Body Frame
by Yangwen Nie, Daikun Zhu, Yahui Chen, Xing Hu and Liangliang Wang
Appl. Sci. 2024, 14(21), 9809; https://doi.org/10.3390/app14219809 - 27 Oct 2024
Viewed by 1642
Abstract
Spiders have unique biological characteristics and excellent maneuverability, making them an ideal model for bionic robot design. However, traditional bionic spider robot designs usually have multiple degrees of freedom and confront many challenges. These challenges include complex control requirements, higher energy consumption, larger [...] Read more.
Spiders have unique biological characteristics and excellent maneuverability, making them an ideal model for bionic robot design. However, traditional bionic spider robot designs usually have multiple degrees of freedom and confront many challenges. These challenges include complex control requirements, higher energy consumption, larger size and weight, higher risk of failure, and higher cost. This study proposes a leg design with two degrees of freedom to reduce its control and manufacturing costs. It can better control leg movement and improve leg force through a multi-link mechanism and a dual-motor system. In addition, the triangular gait and hexagonal body structure align the weight of the body with the support point, thereby enhancing stability. This study offers a comprehensive and organized approach to bio-inspired robot design, providing a valuable reference for future bionic robot development. Full article
(This article belongs to the Special Issue Control and Application for Biorobotics)
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