Biomimetics

Research

30 pages, 12779 KiB

Open AccessArticle

A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control

by Zhen Wang, Lei Kou, Wende Ke, Yuhan Chen, Yan Bai, Qingfeng Li and Dongxin Lu

Biomimetics 2023, 8(1), 126; https://doi.org/10.3390/biomimetics8010126 - 21 Mar 2023

Cited by 4 | Viewed by 2114

At present, the research and application of biped robots is more and more popular. The popularity of biped robots can be better promoted by improving the motion performance of low-cost biped robots. In this paper, the method of the Linear Quadratic Regulator (LQR) [...] Read more.

At present, the research and application of biped robots is more and more popular. The popularity of biped robots can be better promoted by improving the motion performance of low-cost biped robots. In this paper, the method of the Linear Quadratic Regulator (LQR) is used to track a robot’s center of mass (COM). At the same time, the whole-body-control method and value function generated in the process of tracking COM are used to construct the quadratic programming (QP) model of a biped robot. Through the above method, the torque feedforward of the robot is obtained in the Drake simulation platform. The torque feedforward information of the robot is transformed into position feedforward information by spring compensation. In this paper, open loop control and spring compensation are used, respectively, to make the robot perform simple actions. Generally, after the compensation method of spring compensation is adopted, the roll angle and pitch angle of the upper body of the robot are closer to 0 after the robot performs an action. However, as the selected motion can introduce more forward and lateral motions, the robot needs more spring clearance compensation to improve performance. For improving the motion performance of a low-cost biped robot, the experimental results show that the spring compensation method is both reasonable and effective. Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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20 pages, 3593 KiB

Open AccessArticle

Bridging the Finger-Action Gap between Hand Patients and Healthy People in Daily Life with a Biomimetic System

by Jong-Chen Chen

Biomimetics 2023, 8(1), 76; https://doi.org/10.3390/biomimetics8010076 - 11 Feb 2023

Cited by 2 | Viewed by 1681

Abstract

The hand is involved very deeply in our lives in daily activities. When a person loses some hand function, their life can be greatly affected. The use of robotic rehabilitation to assist patients in performing daily actions might help alleviate this problem. However, [...] Read more.

The hand is involved very deeply in our lives in daily activities. When a person loses some hand function, their life can be greatly affected. The use of robotic rehabilitation to assist patients in performing daily actions might help alleviate this problem. However, how to meet individual needs is a major problem in the application of robotic rehabilitation. A biomimetic system (artificial neuromolecular system, ANM) implemented on a digital machine is proposed to deal with the above problems. Two important biological features (structure–function relationship and evolutionary friendliness) are incorporated into this system. With these two important features, the ANM system can be shaped to meet the specific needs of each individual. In this study, the ANM system is used to help patients with different needs perform 8 actions similar to those that people use in everyday life. The data source of this study is our previous research results (data of 30 healthy people and 4 hand patients performing 8 activities of daily life). The results show that while each patient’s hand problem is different, the ANM can successfully translate each patient’s hand posture into normal human motion. In addition, the system can respond to this difference smoothly rather than dramatically when the patient’s hand motions vary both temporally (finger motion sequence) and spatially (finger curvature). Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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14 pages, 18635 KiB

Open AccessArticle

Development of a Lizard-Inspired Robot for Mars Surface Exploration

by Guangming Chen, Long Qiao, Zhenwen Zhou, Lutz Richter and Aihong Ji

Biomimetics 2023, 8(1), 44; https://doi.org/10.3390/biomimetics8010044 - 18 Jan 2023

Cited by 8 | Viewed by 5758

Abstract

Exploring Mars is beneficial to increasing our knowledge, understanding the possibility of ancient microbial life there, and discovering new resources beyond the Earth to prepare for future human missions to Mars. To assist ambitious uncrewed missions to Mars, specific types of planetary rovers [...] Read more.

Exploring Mars is beneficial to increasing our knowledge, understanding the possibility of ancient microbial life there, and discovering new resources beyond the Earth to prepare for future human missions to Mars. To assist ambitious uncrewed missions to Mars, specific types of planetary rovers have been developed for performing tasks on Mars’ surface. Due to the fact that the surface is composed of granular soils and rocks of various sizes, contemporary rovers can have difficulties in moving on soft soils and climbing over rocks. To overcome such difficulties, this research develops a quadruped creeping robot inspired by the locomotion characteristics of the desert lizard. This biomimetic robot features a flexible spine, which allows swinging movements during locomotion. The leg structure utilizes a four-linkage mechanism, which ensures a steady lifting motion. The foot consists of an active ankle and a round pad with four flexible toes that are effective in grasping soils and rocks. To determine robot motions, kinematic models relating to foot, leg, and spine are established. Moreover, the coordinated motions between the trunk spine and leg are numerically verified. In addition, the mobility on granular soils and rocky surface are experimentally demonstrated, which can imply that this biomimetic robot is suitable for Mars surface terrains. Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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16 pages, 3634 KiB

Open AccessArticle

Can Wearable Inertial Measurement Units Be Used to Measure Sleep Biomechanics? Establishing Initial Feasibility and Validity

by Nicholas Buckley, Paul Davey, Lynn Jensen, Kevin Baptist, Bas Jansen, Amity Campbell and Jenny Downs

Biomimetics 2023, 8(1), 2; https://doi.org/10.3390/biomimetics8010002 - 21 Dec 2022

Cited by 5 | Viewed by 3568

Abstract

Wearable motion sensors, specifically, Inertial Measurement Units, are useful tools for the assessment of orientation and movement during sleep. The DOTs platform (Xsens, Enschede, The Netherlands) has shown promise for this purpose. This pilot study aimed to assess its feasibility and validity for [...] Read more.

Wearable motion sensors, specifically, Inertial Measurement Units, are useful tools for the assessment of orientation and movement during sleep. The DOTs platform (Xsens, Enschede, The Netherlands) has shown promise for this purpose. This pilot study aimed to assess its feasibility and validity for recording sleep biomechanics. Feasibility was assessed using four metrics: Drift, Battery Life, Reliability of Recording, and Participant Comfort. Each metric was rated as Stop (least successful), Continue But Modify Protocol, Continue But Monitor Closely, or Continue Without Modifications (most successful). A convenience sample of ten adults slept for one night with a DOT unit attached to their sternum, abdomen, and left and right legs. A survey was administered the following day to assess participant comfort wearing the DOTs. A subset of five participants underwent a single evaluation in a Vicon (Oxford Metrics, Oxford, UK) motion analysis lab to assess XSENS DOTs’ validity. With the two systems recording simultaneously, participants were prompted through a series of movements intended to mimic typical sleep biomechanics (rolling over in lying), and the outputs of both systems were compared to assess the level of agreement. The DOT platform performed well on all metrics, with Drift, Battery Life, and Recording Reliability being rated as Continue Without Modifications. Participant Comfort was rated as Continue But Monitor Closely. The DOT Platform demonstrated an extremely high level of agreement with the Vicon motion analysis lab (difference of <0.025°). Using the Xsens DOT platform to assess sleep biomechanics is feasible and valid in adult populations. Future studies should further investigate the feasibility of using this data capture method for extended periods (e.g., multiple days) and in other groups (e.g., paediatric populations). Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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17 pages, 4505 KiB

Open AccessArticle

Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots

by Ayse Feyza Yilmaz, Fidan Khalilbayli, Kadir Ozlem, Hend M. Elmoughni, Fatma Kalaoglu, Asli Tuncay Atalay, Gökhan Ince and Ozgur Atalay

Biomimetics 2022, 7(4), 249; https://doi.org/10.3390/biomimetics7040249 - 19 Dec 2022

Cited by 5 | Viewed by 2938

Abstract

The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based [...] Read more.

The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actuators as well as the effect of segment types on the actuators’ properties when used in soft robotic glove applications. To impart bending motion to actuators, two techniques have been used: asymmetry between weave and weft knit fabric layers and mechanical anisotropy between these two textiles. The impacts of various segment types on the actuators’ grip force and bending angle were investigated further. According to experiments, segmenting the actuator with a sewing technique increases the bending angle. It was discovered that actuators with high anisotropy differences in their fabric combinations have high gripping forces. Textile-based capacitive strain sensors are also added to selected segmented actuator types, which possess desirable properties such as increased grip force, increased bending angle, and reduced radial expansion. The sensors were used to demonstrate the controllability of a soft robotic glove using a closed-loop system. Finally, we demonstrated that actuators integrated into a soft wearable glove are capable of grasping a variety of items and performing various grasp types. Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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21 pages, 5109 KiB

Open AccessArticle

Standing Balance Control of a Bipedal Robot Based on Behavior Cloning

by Jae Hwan Bong, Suhun Jung, Junhwi Kim and Shinsuk Park

Biomimetics 2022, 7(4), 232; https://doi.org/10.3390/biomimetics7040232 - 9 Dec 2022

Cited by 4 | Viewed by 3773

Abstract

Bipedal robots have gained increasing attention for their human-like mobility which allows them to work in various human-scale environments. However, their inherent instability makes it difficult to control their balance while they are physically interacting with the environment. This study proposes a novel [...] Read more.

Bipedal robots have gained increasing attention for their human-like mobility which allows them to work in various human-scale environments. However, their inherent instability makes it difficult to control their balance while they are physically interacting with the environment. This study proposes a novel balance controller for bipedal robots based on a behavior cloning model as one of the machine learning techniques. The behavior cloning model employs two deep neural networks (DNNs) trained on human-operated balancing data, so that the trained model can predict the desired wrench required to maintain the balance of the bipedal robot. Based on the prediction of the desired wrench, the joint torques for both legs are calculated using robot dynamics. The performance of the developed balance controller was validated with a bipedal lower-body robotic system through simulation and experimental tests by providing random perturbations in the frontal plane. The developed balance controller demonstrated superior performance with respect to resistance to balance loss compared to the conventional balance control method, while generating a smoother balancing movement for the robot. Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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10 pages, 2952 KiB

Open AccessArticle

Bioinspired Propulsion System for a Thunniform Robotic Fish

by Iliya Mitin, Roman Korotaev, Artem Ermolaev, Vasily Mironov, Sergey A. Lobov and Victor B. Kazantsev

Biomimetics 2022, 7(4), 215; https://doi.org/10.3390/biomimetics7040215 - 28 Nov 2022

Cited by 15 | Viewed by 3548

Abstract

The paper describes a bioinspired propulsion system for a robotic fish model. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to a servomotor by two symmetric movable thrusts [...] Read more.

The paper describes a bioinspired propulsion system for a robotic fish model. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to a servomotor by two symmetric movable thrusts simulating muscle contractions. The propulsion system provides the oscillatory tail movement with controllable amplitude and frequency. Tail oscillations translate into the movement of the robotic fish implementing the thunniform principle of locomotion. The shape of the body and the tail fin of the robotic fish were designed using a computational model simulating a virtual body in an aquatic medium. A prototype of a robotic fish was constructed and tested in experimental conditions. Dependencies of fish velocity on the dynamic characteristics of tail oscillations were analyzed. In particular, it was found that the robot’s speed increased as the frequency of tail fin oscillations grew. We also found that for fixed frequencies, an increase in the oscillation amplitude lead to an increase in the swimming speed only up to a certain threshold. Further growth of the oscillation amplitude lead to a weak increase in speed at higher energy costs. Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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18 pages, 7218 KiB

Open AccessArticle

Lighter and Simpler Design Paradigm for Widespread Use of Ankle Exosuits Based on Bio-Inspired Patterns

by Sungjin Park, Junyoung Moon, June il Park, Jaewook Ryu, Kimoon Nam, Jaeha Yang and Giuk Lee

Biomimetics 2022, 7(4), 148; https://doi.org/10.3390/biomimetics7040148 - 29 Sep 2022

Viewed by 3120

Abstract

Soft wearable robots are attracting immense attention owing to their high usability and wearability. In particular, studies on soft exosuits have achieved remarkable progress. Walking is one of the most basic human actions in daily life. During walking, the ankle joint has considerable [...] Read more.

Soft wearable robots are attracting immense attention owing to their high usability and wearability. In particular, studies on soft exosuits have achieved remarkable progress. Walking is one of the most basic human actions in daily life. During walking, the ankle joint has considerable influence. Therefore, an exosuit design paradigm having a light and simple structure was developed with the goal of fabricating a soft exosuit that supports the ankle. The new exosuit matches the performance of existing exosuits while being as comfortable as everyday wear. A walking test through a combination with a mobile actuator system, which can maximize these advantages, was also conducted. The combination with the mobile system demonstrates the potential of using the new ankle exosuit as inner wear that maximizes the advantages of a lighter and simpler design. The exosuit design paradigm could serve as an effective guideline for manufacturing assistive exosuits for various body parts in the future. Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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