Published: Dec. 29, 2023
In the field of robot control, PID controller has always been regarded as a classical controller. However, traditional some defects, such difficulty in adjusting parameters, slow response speed and so on. order to overcome these this paper presents bionic electromechanical control algorithm based on variable structure PID, which combines ideas bionics theory better performance.
Language: Английский
Ocean Engineering, Journal Year: 2024, Volume and Issue: 298, P. 117242 - 117242
Published: Feb. 26, 2024
Language: Английский
Citations
55
Advanced Intelligent Systems, Journal Year: 2023, Volume and Issue: 6(2)
Published: Oct. 5, 2023
The ocean environment has enormous uncertainty due to the influence of complex waves and undercurrents. human beings are limited in their abilities detect utilize marine resources without powerful tools. Soft robots employ soft materials simplify mechanical structures rigid adapt morphology environment, making them suitable for performing some challenging tasks place manual labor. Due superior flexible deformable bodies, underwater have played significant roles numerous applications recent decades. Meanwhile, various technical challenges still need be tackled ensure reliability practical performance complicated environment. Nowadays, researchers developed robotic systems based on biomimetics other disciplines, aiming at comprehensive exploration appropriate utilization unexploited resources. This review presents advances aspects intelligent materials, fabrication, actuation, locomotion patterns, power storage, sensing, control, modeling; additionally, existing perspectives analyzed as well.
Language: Английский
Citations
31
Mechanism and Machine Theory, Journal Year: 2023, Volume and Issue: 193, P. 105554 - 105554
Published: Dec. 6, 2023
Language: Английский
Citations
22
Ocean Engineering, Journal Year: 2023, Volume and Issue: 286, P. 115650 - 115650
Published: Aug. 30, 2023
Language: Английский
Citations
13
Journal of Marine Science and Engineering, Journal Year: 2024, Volume and Issue: 12(2), P. 292 - 292
Published: Feb. 6, 2024
The manta ray, exemplifying an agile swimming mode identified as the median and paired fin (MPF) mode, inspired development of underwater robots. Robotic typically comprises a central rigid body flexible pectoral fins. Flexible fins provide excellent maneuverability. However, due to complexity material mechanics hydrodynamics, its dynamics are rarely studied, which is crucial for advanced control robotic (such trajectory tracking, obstacle avoidance, etc.). In this paper, we develop multibody dynamic model our novel robot by introducing pseudo-rigid (PRB) consider passive deformation in spanwise direction while avoiding intricate modeling. addressing rigid-flexible coupling between actuation mechanism, employ sequential technique commonly used fluid-structure interaction (FSI) problems. Numerical examples provided validate MPF demonstrate effectiveness model. We show that performs well analysis robot. addition straight-swimming scenario, elucidate viability tailoring turning gaits through systematic variations input parameters. Moreover, compared with finite element CFD methods, PRB method has high computational efficiency Its potential real-time computation opens up possibilities future model-based control.
Language: Английский
Citations
4
Soft Robotics, Journal Year: 2025, Volume and Issue: unknown
Published: April 2, 2025
Recently, there has been an increased interest in endowing intelligent behaviors and features soft robotic systems. As a prerequisite for intelligence, system must integrate sensing, information processing, the ability to act response external stimuli. This work presents crawler that demonstrates locomotion using electroactive liquid crystal elastomers (LCEs). By integrating independent components such as photo-responsive LCE switch into conductive electromechanical processing network based on sequential logic, robot can sense optical indicators process this change direction autonomously. study expands design of individual mechanical material subsystems experimentally showcases autonomous operation robot. The embedded bistable mechanism stores present operational state enforces directional by controlling position hard stop interfaces with legs. exemplifies advanced potential systems complex behavior, leveraging unique properties LCEs mechanical-electrical without need traditional electronic controllers.
Language: Английский
Citations
0
Sensors and Actuators A Physical, Journal Year: 2024, Volume and Issue: 370, P. 115277 - 115277
Published: March 15, 2024
Language: Английский
Citations
3
Ocean Engineering, Journal Year: 2023, Volume and Issue: 291, P. 116427 - 116427
Published: Nov. 27, 2023
Language: Английский
Citations
7
Ocean Engineering, Journal Year: 2024, Volume and Issue: 311, P. 118853 - 118853
Published: Aug. 1, 2024
Language: Английский
Citations
2
Materials & Design, Journal Year: 2023, Volume and Issue: 232, P. 112127 - 112127
Published: June 29, 2023
Inspired by the instantaneous power of hindlimbs frogs and dexterous posture adjustment their forelimbs, a frog-like jumping robot based on soft body detonation drive was designed. By combining flexibility silicone material characteristics mixed hydrogen–oxygen gas, driver constructed to cause jump from achieve high energy explosive force. Moreover, spring-based forelimb mechanism is This not only adjusts with different starting angles but also maintains smooth landing providing cushioning. The kinematics efficiency models are established D-H parameter method geometric method, they verified analysed. Finally, combined control system, an experimental prototype (weight 495 g) height 135 mm, trunk length 120 front 195 width 90 mm developed. experiment proved that can 6 consecutive jumps, single 0.6 m spanning distance 1.2 easily cross rectangular obstacles.
Language: Английский
Citations
4