Motion Patterns Under Multiple Constraints and Master–Slave Control of a Serial Modular Biomimetic Robot with 3-DOF Hydraulic Muscle-Driven Continuum Segments DOI Creative Commons
Yunrui Jia, Zengmeng Zhang,

Junhao Guo

et al.

Biomimetics, Journal Year: 2025, Volume and Issue: 10(5), P. 278 - 278

Published: April 29, 2025

Soft modular biomimetic robots, driven by flexible actuators, are extensively used in various fields due to their excellent flexibility, environmental adaptability, and isomorphism. However, existing modules typically possess no more than two degrees of freedom for structural limitations. In this study, a three-degree-of-freedom segment water hydraulic artificial muscles (WHAMs) supported springs was proposed, achieving integrated design. The continuum robot composed can execute earthworm-, snake-, elephant trunk-biomimetic motion modes based on operational constraints. During long-distance tasks, distinct segments the adopt varying configurations meet specific requirements. closed-loop control characteristic tests were conducted single evaluate its characteristics. isomorphic master controller designed range segment, with maximum bending angle deviation between not exceeding 4°, system demonstrating favorable stability.

Language: Английский

Motion Patterns Under Multiple Constraints and Master–Slave Control of a Serial Modular Biomimetic Robot with 3-DOF Hydraulic Muscle-Driven Continuum Segments DOI Creative Commons
Yunrui Jia, Zengmeng Zhang,

Junhao Guo

et al.

Biomimetics, Journal Year: 2025, Volume and Issue: 10(5), P. 278 - 278

Published: April 29, 2025

Soft modular biomimetic robots, driven by flexible actuators, are extensively used in various fields due to their excellent flexibility, environmental adaptability, and isomorphism. However, existing modules typically possess no more than two degrees of freedom for structural limitations. In this study, a three-degree-of-freedom segment water hydraulic artificial muscles (WHAMs) supported springs was proposed, achieving integrated design. The continuum robot composed can execute earthworm-, snake-, elephant trunk-biomimetic motion modes based on operational constraints. During long-distance tasks, distinct segments the adopt varying configurations meet specific requirements. closed-loop control characteristic tests were conducted single evaluate its characteristics. isomorphic master controller designed range segment, with maximum bending angle deviation between not exceeding 4°, system demonstrating favorable stability.

Language: Английский

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