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| 1 | Landing route planning method for micro drones based on hybrid optimization algorithm显示文摘Aiming at the obstacle avoidance trajectory planning problem in the landing process of the micro drone,this paper proposes a swarm optimization algorithm that combines the dragonfly optimization method and the differential evolution method.The orthogonal learning mechanism is adopted to realize the adaptive switch between the two algorithms.In the process of landing route planning,the planning plane is first obtained by making the gliding plane tangent to the obstacle.In the planning plane,the projection of obstacle is transformed into multiple unreachable line segments.By designing an optimization model,the 3D landing route planning problem is transformed into a 2D obstacle avoidance route optimization problem.Taking the shortest route as the optimization objective,the penalty factor is introduced into the cost function to avoid the intersection of the landing route and obstacle.During the optimization process,through the orthogonal learning of the intermediate iterative results,the hybrid algorithm can adaptively select the next iterative algorithm,so it can give full play to the respective advantages of the two algorithms.The optimization results show that,compared with the single optimization algorithm,the hybrid optimization algorithm proposed in this paper can better solve the problem of landing route planning for micro-small UAVs. | Liang Shaoran Song Bifeng Xue Dong | 2021 | Biomimetic Intelligence & Robotics2021，1，1： | 3 |
| 2 | A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach显示文摘Some quadruped robots developed recently show better dynamic performance and environmental adaptability than ever, and have been preliminarily applied in the field of emergency disposal, military reconnaissance and infrastructure construction. The development route, mechanisms design, control methods and mobile manipulating approaches of the quadruped robots are surveyed in this article. Firstly, the development route of the quadruped robot is combed, as the references of the forecast of the future work on quadruped robots. Then the bionic structure and the motion control method of the quadruped robot is summarized, the advantages and disadvantages are analyzed in aspects of gait switching, terrain adaption and disturbance resistance. Subsequently, aiming at the mobile manipulation of the quadruped robot, the representative leg-arm collaborative robots and the multi-task-oriented Whole-body Control (WBC) methods are introduced. Finally, the summary and future work of the quadruped robots is given. | Hui Chai Yibin Li Rui Song Guoteng Zhang Qin Zhang Song Liu Jinmian Hou Yaxian Xin Ming Yuan Guoxuan Zhang Zhiyuan Yang | 2022 | Biomimetic Intelligence & Robotics2022，2，1： | 2 |
| 3 | Soft computing-based predictive modeling of flexible electrohydrodynamic pumps显示文摘Flexible electrohydrodynamic(EHD)pumps have been developed and applied in many fields due to no transmission structure,no wear,easy manipulation,and no noise.Physical simulation is often used to predict the output performance of flexible EHD pumps.However,this method neglects fluid–solid interaction and energy loss caused by flexible materials,which are both difficult to calculate when the flexible pumps deform.Therefore,this study proposes a flexible pump output performance prediction using machine learning algorithms.We used three different types of machine learning:random forest regression,ridge regression,and neural network to predict the critical parameters(pressure,flow rate,and power)of the flexible EHD pump.Voltage,angle,gap,overlap,and channel height are selected as five input data of the neural network.In addition,we optimized essential parameters in the three networks.Finally,we adopt the best predictive model and evaluate the significance of five input parameters to the output performance of the flexible EHD pumps.Among the three methods,the MLP model has exceptionally high accuracy in predicting pressure and flow.Our work is beneficial for the design process of fluid sources in flexible soft actuators and soft hydraulic sources in microfluidic chips. | Zebing Mao Yanhong Peng Chenlong Hu Ruqi Ding Yuhei Yamada Shingo Maeda | 2023 | Biomimetic Intelligence & Robotics2023，3，3： | 2 |
| 4 | HIT-Hawk and HIT-Phoenix: Two kinds of flapping-wing flying robotic birds with wingspans beyond 2 meters显示文摘Inspired by large and medium-sized birds,two kinds of flapping-wing flying robots with wingspans beyond 2 meters were developed.They have the appearance of a hawk and a phoenix respectively,so they are called HIT-Hawk and HIT-Phoenix.In this paper,the bionic concept,theoretical analysis,design and manufacturing are introduced in detail.Firstly,the flight principle and characteristics of large and medium-sized birds were summarized.Then,the aerodynamics was modeled based on the thin airfoil theory,and the main design basis was established.Secondly,the mechanical structures of HIT-Hawk and HIT-Phoenix were designed to ensure the lateral and longitudinal stability and have optimized flight performance.Moreover,an autonomous flight control method was proposed and realized in highly integrated on-onboard controller;it satisfies the strict restrictions on mass,size,power and shape.Finally,the prototypes were fabricated and verified through practical flight experiments.The wingspans of these two flapping wing aircrafts are 2.0 m and 2.3 m respectively,the take-off weights are 1.15 kg and 0.86 kg,and the maximum stable endurance is 65 min(with battery of 3S LiPo,4300 mAh)and 8 min(with battery of 3S LiPo,800 mAh).Their wind resistance can both reach level 4.Compared with the small and micro flapping-wing aerial vehicles that mimic insects or small birds,they both have strong load capacity,strong wind resistance and long endurance. | Erzhen Pan Hui Xu Han Yuan Jianqing Peng Wenfu Xu | 2021 | Biomimetic Intelligence & Robotics2021，1，1： | 2 |
| 5 | Effects of airfoil on aerodynamic performance of flapping wing显示文摘Flapping-wing aircraft(FWA)operates in a flight mode that mimics natural flyers,such as birds,bats and insects.For large scale bird-inspired flapping wings aircraft,the design of airfoil parameters is crucial to improving the aerodynamic performance.In order to study the effect of camber on the aerodynamic characteristics,we developed four different airfoils with a chord length of 12 cm.The cambers of airfoils are respectively 30 mm,25 mm,20 mm and 15 mm.A numerical investigation into the effects of camber on aerodynamic performance is carried out through COMSOL Multiphysics software using Fluid–Structure Interaction(FSI)module.In this work,the fluid–structure module employs the Navier–Stokes equations coupled with a solid stress–strain physics module and a moving mesh module.The three-dimensional(3D)flapping wing computational models with different cambers are built.The results show that certain camber of airfoil can improve the aerodynamic characteristics of flapping wing. | Min Zhao Yao Zou Qiang Fu Wei He | 2021 | Biomimetic Intelligence & Robotics2021，1，1： | 1 |
| 6 | Attitude control of flapping wing aircraft based on energy optimization and ESO显示文摘Aiming at the problem of insufficient endurance performance of flapping wing aircraft,a stable attitude control algorithm based on energy optimization and ESO(extended state observer)is designed,which effectively reduces the energy consumption in cruise phase.Firstly,the longitudinal dynamic model of flapping wing aircraft is established,and then the uncertain part of the system and various unknown external disturbances are taken as the total disturbance.ESO module is introduced to observe and track the total disturbance in real time.Therefore,the system is transformed into a series integral system through the total disturbance feedback,and then the energy optimal control law is designed on the base of the transformed system.The numerical simulation results show that,compared with the traditional PID control method,the designed energy optimal control method reduces the average energy consumption by 35.28%. | Luo Li Hongwei Wang Long Cui | 2021 | Biomimetic Intelligence & Robotics2021，1，1： | 1 |
| 7 | Dynamic wheeled motion control of wheel-biped transformable robots显示文摘Most existing biped robots can only walk with their feet or move by wheels.To combine the best of both worlds,this paper introduces the dynamic wheeled control including wheeled locomotion and in-situ wheel-to-foot(WtF)transformation of a full-sized wheel-biped transformable robot SR600-II.It can traverse on flat surfaces by wheels and transform to footed stance through its switching modules when facing obstacles.For wheeled locomotion,the kinematics considering upper-body lumped center-of-mass(CoM)constraint is first derived.Then,the dynamics of wheeled locomotion is modeled as a wheeled inverted pendulum(WIP)with variables related to the pose of upper body.After that,a parameter-varying linear quadratic regulator(LQR)controller is utilized to enable dynamic wheeled locomotion.For WtF transformation,the WtF balance constraints are first revealed.Then,a WtF transformation strategy is proposed to tackle the problem when robot transforms from wheeled balance state to in-situ biped stance state.It enables the robot to pass by the transition stages in which both wheels and feet touch the ground and to maintain its balance at the same time.Simulations and experiments on the SR600-II prototype have validated the efficacy of proposed dynamic wheeled control strategies for both wheeled locomotion and in-situ WtF transformation. | Chao Zhang Tangyou Liu Shuang Song Jiaole Wang Max Q-H.Meng | 2022 | Biomimetic Intelligence & Robotics2022，2，2： | 1 |
| 8 | User-centered development and performance assessment of a modular full-body exoskeleton (AXO-SUIT)显示文摘This paper presents the design and preliminary performance assessment of a full-body assistive exoskeleton(AXO-SUIT)for older adults.AXO-SUIT is a system that consists of separate lower-body and upper-body modular exoskeletons,which can be combined to form a full-body system to provide flexible physical assistance as needed.The full-body exoskeleton comprises 27 degrees of freedom(dof),of which 17 are passive and 10 active.It can assist people in walking,standing,carrying and handling tasks.A user-centered design approach was adopted throughout the development of the exoskeleton.This paper describes the design process of AXOSUIT,involving a review of user needs,a kinematic and kinetic motion study,and innovative system design.Tests with the developed systems were conducted on selected end-user subjects,covering both performance evaluations at different levels and useability testing.End-user testing results show the effectiveness of the exoskeleton in providing flexible physical assistance. | Shaoping Bai M.R.Islam Valerie Power Leonard OŚullivan | 2022 | Biomimetic Intelligence & Robotics2022，2，2： | 1 |
| 9 | A review of bio-inspired needle for percutaneous interventions显示文摘Bio-inspired design translates the knowledge of natural or biological structures or behaviors into novel theories and technologies,providing new directions for research and developments.Although the medical needles for percutaneous intervention technology appear to be mature,biomimetic solutions become popular to further facilitate the performance of the medical needles.In this paper,we review the current state of bio-inspired medical needle designs for percutaneous interventions,including a variety of biomimetic mechanisms and insertion strategies.Existing and experimental designs of biomimetic medical needles are classified into five groups with respect to the applications,while their characteristics are identified and discussed.Such classification and discussion will not only provide technical insights into previous studies but also identify undiscovered directions for future research. | Yichi Ma Xiao Xiao Hongliang Ren Max Q.-H.Meng | 2022 | Biomimetic Intelligence & Robotics2022，2，4： | 1 |
| 10 | Design, fabrication, and testing of a maneuverable underwater vehicle with a hybrid propulsor显示文摘Rapidity and agility are equally important to unmanned underwater vehicles(UUVs).In this study we developed a UUV equipped with a hybrid propulsor which consists of a screw propeller and four bio-inspired flippers.The bionic flippers rely on their flapping motion to generate both thrust and lateral forces,and the screw propeller provides additional thrust for fast cruise.The maneuverability is greatly improved while the capability of sailing fast is maintained.For the typical sailing requests,the flapping motions of the flippers were designed meticulously,and a control algorithm based on central pattern generators(CPGs)was built to produce rhythmic locomotor signals considering the motion periodicity.Simultaneously,a feedback control method was merged to correct the deviation of the course.A compact concentric-shafts transmission mechanism was employed to overcome the inadequacy of the inside space,and the vehicle was built.Finally,the sailing and maneuvering performance were tested.It was demonstrated that,the UUV’s overall sailing performance was enhanced significantly due to the combination of the flapping flippers and the screw propeller.The hybrid-propulsor vehicle is capable of sailing in multiplicate environments. | Dongqi Gao Tong Wang Fenghua Qin Shiwu Zhang Jun Jing Jiming Yang | 2022 | Biomimetic Intelligence & Robotics2022，2，4： | 1 |
| 11 | NA-CPG: A robust and stable rhythm generator for robot motion control显示文摘Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic rhythms.However,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological relationships.Moreover,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot motion.Therefore,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are proposed.NA-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output waveforms.Thus,it can effectively cope with large parameter changes to avoid network oscillations and divergence.To optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further proposed.Meanwhile,a biomimetic robotic fish is illustrated to realize the whole optimization process.Simulations demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,respectively.The proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control. | Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu | 2022 | Biomimetic Intelligence & Robotics2022，2，4： | 1 |
| 12 | Hierarchical policy with deep-reinforcement learning for nonprehensile multiobject rearrangement显示文摘Nonprehensile multiobject rearrangement is the robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping.It must consider how each object reaches the target and the order in which objects move,considerably increasing the complexity of the problem.Thus,we propose a hierarchical policy for nonprehensile multiobject rearrangement based on deep-reinforcement learning.We use imitation learning and reinforcement learning to train a rollout policy.In a high-level policy,the policy network directs the Monte Carlo tree search algorithm to efficiently seek the ideal rearrangement sequence for several items.In a low-level policy,the robot plans the paths according to the order of path primitives and manipulates the objects to approach the target poses one by one.Our experiments show that the proposed method has a higher success rate,fewer steps,and shorter path length than the state-of-the-art methods. | Fan Bai Fei Meng Jianbang Liu Jiankun Wang Max Q-H.Meng | 2022 | Biomimetic Intelligence & Robotics2022，2，3： | 1 |
| 13 | Optimization of fracture reduction robot controller based on improved sparrow algorithm显示文摘The accuracy of a fracture reduction robot(FRR)is critical for ensuring the safety of surgery.Improving the repositioning accuracy of a FRR,reducing the error,and realizing a safer and more stable folding motion is critical.To achieve this,a sparrow search algorithm(SSA)based on the Levy flight operator was proposed in this study for self-tuning the robot controller parameters.An inverse kinematic analysis of the FRR was also performed.The robot dynamics model was established using Simulink,and the inverse dynamics controller for the fracture reduction mechanism was designed using the computed torque control method.Both simulation and physical experiments were also performed.The actual motion trajectory of the actuator drive rod and its error with a desired trajectory was obtained through simulation.An optimized Levy-sparrow search algorithm(Levy-SSA)crack reduction robot controller demonstrated an overall reduction of two orders of magnitude in the reduction error,with an average error reduction of 98.74%compared with the traditional unoptimized controller.The Levy-SSA increased the convergence of the crack reduction robot control system to the optimal solution,improved the accuracy of the motion trajectory,and exhibited important implications for robot controller optimization. | Baichuan An Jianwen Chen Hao Sun Minghuan Yin Zicheng Song Chao Zhuang Cheng Chang Minghe Liu | 2023 | Biomimetic Intelligence & Robotics2023，3，4： | 1 |
| 14 | Funabot-Suit:A bio-inspired and McKibben muscle-actuated suit for natural kinesthetic perception显示文摘In recent years,there has been extensive utilization of actuators driven by artificial muscles in wearable devices.However,the muscle distribution configurations of most wearable devices have been specifically designed and are difficult to generalize.Consequently,wearable devices that allow direct installation of actuators onto existing clothing are better suited for a wider range of application scenarios.This letter presents the development and evaluation of Funabot-Suit,a human muscle configuration inspired wearable assist device that employs McKibben artificial muscles to induce natural kinesthetic perception in the wearer’s torso.By integrating thin McKibben muscles into an existing motion capture suit,the Funabot-Suit is capable of generating four fundamental motions:forward and backward bending,and left and right twisting.The suit’s performance was assessed through experiments involving three subjects who wore the suit while standing and seated,with the subjects reporting the direction of their kinesthetic perception.The subjects also rated the perceived ease of kinesthetic perception direction on a five-point scale.Our results demonstrate that the Funabot-Suit successfully induces kinesthetic perceptions for the wearer,with a one hundred percent detection ratio for accurate responses in the command direction across all subjects and positions.We observed variations in the sensitivity of left–right and up-down sensations,which can be attributed to the positioning of artificial muscles and individual differences. | Yanhong Peng Yusuke Sakai Koki Nakagawa Yuki Funabora Tadayoshi Aoyama Kenta Yokoe Shinji Doki | 2023 | Biomimetic Intelligence & Robotics2023，3，4： | 1 |
| 15 | Analysis and control for a bioinspired multi-legged soft robot显示文摘Untethered soft miniature robots are considered to have a wide range of applications in biomedical field.However,researchers today still have not reached a consensus on its configuration design and actuation method.Here,inspired by the tentacles of a certain kind of echinodermata,we propose a soft multi-legged robot with a total weight of 0.26 g capable of multiple locomotion modes.Based on the magnetic field distribution of a square permanent magnet,we qualitatively analyze the motion mechanism of the robot.Finally,we carried out relevant experimental research.The research shows that the robot can move forward,backward,steering and cross obstacles under the control of the magnetic field,and can combine these abilities to navigate the maze. | Danying Sun Jingyu Zhang Qin Fang Pingyu Xiang Yanan Xue Yue Wang Rong Xiong Haojian Lu | 2022 | Biomimetic Intelligence & Robotics2022，2，1： | 1 |
| 16 | Adaptive gait planning for quadruped robot based on center of inertia over rough terrain显示文摘Controlling the quadruped robot for walking on a rough terrain without any visual perception is a great challenge. In the present study, a simple measuring method is proposed for obtaining the total force applied on the center of inertia of the quadruped robot with force sensing information in the static gait. Based on the zero moment point stable criterion, an extended criterion on the virtual supporting plane is presented to guarantee the stable walking of the quadruped robot. Moreover, an adaptive omnidirectional gait planning is developed for the quadruped robot applying the extended zero moment point on the center of inertia to obtain the stable criterion over rough terrain. It is found that when the proposed gait planning is applied on the quadruped robot, unknown surroundings successfully adapted without establishing the huge height map. Experiments are carried out to investigate walking of the quadruped robot at three different conditions, including the flat, rough terrain, and rough slope. It is concluded that the proposed method has reasonable performance in the studies case. | Jiawei Chen Kun Xu Xilun Ding | 2022 | Biomimetic Intelligence & Robotics2022，2，1： | 1 |
| 17 | Surgical instruments hyalinization:Occlusion removal in minimally invasive endoscopic surgery显示文摘Minimal invasion is an important trend in surgery.However,the endoscope,as one of the key devices for monitoring the process of minimally invasive surgery,is limited by its size and working space it operates in,which result in a considerably narrow field of view.In particular,when a surgical instrument enters through the tool channel,the instrument occupies most of the area in an endoscopic image.This hampers the surgeon’s field of view and has a negative impact on the surgery.This study proposes a novel method for removing the occlusion caused by surgical instruments in endoscopic images by making foreground occlusions on endoscopic images transparent using image restoration and interframe information filling.Compared with unprocessed images,this method can provide a clearer field of view that is necessary for minimally invasive endoscopic surgeries and improve the quality of surgeries.Clinical endoscopic images are used to verify the feasibility of the proposed method,and the results show that the proposed method improves the visual effect of endoscopic images by removing surgical-instrument occlusions.This demonstrates the considerable potential of the proposed method for use in clinical applications. | Dongsheng Xie Wenxin Chen Jin Zhao Xinya Song Kaifeng Wang Weiwei Xia Haiying Liu Fangle Chang Changsheng Li Xingguang Duan | 2023 | Biomimetic Intelligence & Robotics2023，3，3： | 1 |
| 18 | Mechanism analysis of cheetah’s high-speed locomotion based on digital reconstruction显示文摘As the fastest land animal,cheetah has important reference significance for the research of high-speed quadruped robots in terms of its body structure,motion characteristics and control mechanism.In this paper,we used digital reconstruction to analyze the mechanism of the cheetah’s high-speed movement.Considering the body size and quality of a real cheetah,a simplified virtual model of cheetah was built.Using the D-H method,the kinematics and dynamics of the cheetah’s leg mechanism were established.By using the foot trajectory data of the cheetah’s running gait obtained from biological research,each joint angle,virtual leg length,leg-to-ground contact angle,leg energy,joint torque,and the manipulability of the leg mechanism were analyzed and compared in the time dimension.Finally,the high-speed motion law of engineering guiding significance was extracted. | Xiuli Zhang Chenliang Zhao Zhongqi Xu Senwei Huang | 2022 | Biomimetic Intelligence & Robotics2022，2，1： | 1 |
| 19 | Relevant Region sampling strategy with adaptive heuristic for asymptotically optimal path planning显示文摘Sampling-based planning algorithm is a powerful tool for solving planning problems in highdimensional state spaces.In this article,we present a novel approach to sampling in the most promising regions,which significantly reduces planning time-consumption.The RRT#algorithm defines the Relevant Region based on the cost-to-come provided by the optimal forward-searching tree.However,it uses the cumulative cost of a direct connection between the current state and the goal state as the cost-to-go.To improve the path planning efficiency,we propose a batch sampling method that samples in a refined Relevant Region with a direct sampling strategy,which is defined according to the optimal cost-to-come and the adaptive cost-to-go,taking advantage of various sources of heuristic information.The proposed sampling approach allows the algorithm to build the search tree in the direction of the most promising area,resulting in a superior initial solution quality and reducing the overall computation time compared to related work.To validate the effectiveness of our method,we conducted several simulations in both SE(2)and SE(3)state spaces.And the simulation results demonstrate the superiorities of proposed algorithm. | Chenming Li Fei Meng Han Ma Jiankun Wang Max Q-H.Meng | 2023 | Biomimetic Intelligence & Robotics2023，3，3： | 1 |
| 20 | Experimental evaluation of autonomous map-based Spot navigation in confined environments显示文摘In this article,we address the task of experimental evaluation of autonomous map-based navigation of a Boston Dynamics Spot quadruped robot in confined environments equipped with the developed autonomy package that incorporates a 3D lidar,an IMU,and an onboard computer.For that,we propose an integrated software and hardware system that is considered as an enabler for robot localization and risk-aware path planning,based on the known map.The system design itself is modular and incorporates the perception capabilities required for autonomous navigation.The Spot robot first is utilized to build the offline map of the environment by utilizing the Google Cartographer simultaneous localization and mapping(SLAM)package.During the next step,the online environmental information from the autonomy package sensors and the offline map are provided to the onboard computer to localize the robot on the known map by utilizing means provided by Cartographer.Finally,the occupancy information is provided to the online grid-based path planner that generates risk-aware paths.The extensive experimental evaluation of the proposed system is performed in corridors and SubT environments. | Anton Koval Samuel Karlsson George Nikolakopoulos | 2022 | Biomimetic Intelligence & Robotics2022，2，1： | 1 |
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