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
Applied Ocean Research, Journal Year: 2024, Volume and Issue: 144, P. 103884 - 103884
Published: Jan. 15, 2024
Language: Английский
Citations
1
Engineering Applications of Computational Fluid Mechanics, Journal Year: 2024, Volume and Issue: 18(1)
Published: April 24, 2024
Flippers are key tissues through which frogs swim in water, and their spreading contracting state directly affects ability to move while driving hind limbs. First, inspired by movement mechanism of frog flippers, a controllable soft-body extension-driven frog-like flipper was designed combining the large elasticity strong ductility materials. This is driven single motor via linkage gear, enabling it simulate changing extension precisely controlled as swims. Second, nonlinear mechanical calculations deformation membrane were carried out, optimization model based on Ogden's super material established. Subsequently, integral analysis deformed area flippers used obtain fluid dynamics paddling performance. Theoretical computational simulations have shown that can instantaneously control changes inhibit separation swimming, effectively reducing water drag thus increasing swimming propulsive force. Finally, when same, efficiency increased 1, 1.6, 1.9 times compared with fixed, passive folding, spring respectively.
Language: Английский
Citations
1
Journal of Engineering Research, Journal Year: 2024, Volume and Issue: unknown
Published: May 1, 2024
In this study, a new eight-legged bionic crab detection robot is designed, taking inspiration from crabs, to address the limitations of traditional multi-legged walking robots. Instead using complex multipod structures and multiple powerful engines, equipped with dual motors for specialized linkages claw movement. Motion simulations are conducted, employing diagonal gait straight turning motions. Stability assessments performed stability margin method. By combining Adams Matlab/Simulink, kinematic model created enable analysis body displacement changes in center gravity. The subjected testing straight, turning, obstacle avoidance motions, demonstrating stable Its performance provides solid theoretical foundation development practical application such
Language: Английский
Citations
1
Journal of Field Robotics, Journal Year: 2024, Volume and Issue: 41(8), P. 2705 - 2714
Published: July 1, 2024
Abstract Soft crawling robots are usually driven by bulky and complex external pneumatic or hydraulic actuators. In this work, we proposed a miniaturized soft caterpillar based on electrohydrodynamic (EHD) pumps. The was mainly composed of flexible EHD pump for providing the driving force, an artificial muscle performing crawling, fluid reservoir, several stabilizers auxiliary feet. To achieve better performances our caterpillar, flow rate pressure were improved using curved electrode design. gap, overlap length, channel height, thickness, pair number further optimized performance. Compared with pumps conventional straight electrodes, showed 50% enhancement in 60% increase rate. bending capability muscles also characterized, showing maximum angle over 50°. Then, ability is tested. Finally, owns advantages simple fabrication, low‐cost, fast movement speed, small footprint, which has robust wide potential practical use, especially various terrains.
Language: Английский
Citations
1
PLoS ONE, Journal Year: 2024, Volume and Issue: 19(7), P. e0306320 - e0306320
Published: July 5, 2024
To achieve the accuracy and anti-interference of motion control soft robot more effectively, strategy pneumatic bionic based on improved Central Pattern Generator (CPG) is proposed. According to structure characteristics robot, a two-layer neural network topology model for constructed by coupling 22 Hopfield neuron nonlinear oscillators. Then, Adaptive Neuro-Fuzzy Inference System (ANFIS), membership functions are offline learned trained construct CPG-ANFIS-PID robot. Through simulation research impact input parameters swimming performance it verified that can quickly respond parameter changes between different modes, stably output smooth continuous dynamic position signals, which has certain advantages. prototype analyzed experimentally compared with results. The results show coupled waveform signals stably, executing mechanisms biological rhythms propulsion waveforms, confirming characteristics, enable have maneuverability, flexibility, environmental adaptability. significance this work lies in establishing applicable proposing rhythmic method
Language: Английский
Citations
1
Biomimetics, Journal Year: 2024, Volume and Issue: 9(9), P. 559 - 559
Published: Sept. 16, 2024
Untethered magnetic soft robots show great potential for biomedical and small-scale micromanipulation applications due to their high flexibility ability cause minimal damage. However, most current research on these focuses marine reptilian biomimicry, which limits move in unstructured environments. In this work, we design a quadruped robot with top cover specific magnetization angle, drawing inspiration from the common locomotion patterns of quadrupeds nature integrating our unique actuation principle. It can crawl tumble and, by adjusting field parameters, it adapts its environmental conditions, enabling cross obstacles perform remote transportation release cargo.
Language: Английский
Citations
1
Ocean Engineering, Journal Year: 2023, Volume and Issue: 287, P. 115822 - 115822
Published: Sept. 18, 2023
Language: Английский
Citations
3
Mathematics, Journal Year: 2023, Volume and Issue: 11(20), P. 4239 - 4239
Published: Oct. 10, 2023
Efficient exploration in multi-robot systems is significantly influenced by the initial start positions of robots. This paper introduces hybrid cheetah technique with intelligent configuration (HCETIIC), a novel strategy explicitly designed to optimize efficiency across varying configurations: uniform distribution, centralized position, random positions, perimeter clustered and strategic positions. To establish effectiveness HCETIIC, we engage comparative analysis four other prevalent methods domain. These amalgamate principles coordinated (CME) different metaheuristic algorithms have demonstrated compelling results their respective studies. The performance comparison based on essential measures such as runtime, percentage explored area, failure rate. empirical reveal that proposed HCETIIC method consistently outperforms compared strategies thereby emphasizing its considerable potential for enhancing tasks wide range real-world scenarios. research underscores critical, yet often overlooked, role robot exploration, establishing new direction further improvements this field.
Language: Английский
Citations
3
Biomimetics, Journal Year: 2024, Volume and Issue: 9(7), P. 398 - 398
Published: June 30, 2024
This study first draws inspiration from the dual biomimetic design of plant cell walls and honeycomb structures, drawing on their structural characteristics to a flexible shell structure that can achieve significant deformation withstand large loads. Based staggered bonding this structure, we propose new scheme for large-load pneumatic soft arm establish mathematical model its flexibility load capacity. The extension bending type come geometric variability which be controlled through two switches, namely, deflation inflation, or actions. experimental results show under driving pressure within range 150 kpa, maximum elongation reaches 23.17 cm, angle is 94.2 degrees, 2.83 N. designed based bionic have both high capacity flexibility. research provide ideas methods development high-load arms, are expected expand laboratories multiple fields.
Language: Английский
Citations
0
Ocean Engineering, Journal Year: 2024, Volume and Issue: 310, P. 118700 - 118700
Published: July 15, 2024
Language: Английский
Citations
0