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| 1 | Robust RGB-D Camera and IMU Fusion-based Cooperative and Relative Close-range Localization for Multiple Turtle-inspired Amphibious Spherical Robots显示文摘In the narrow, submarine, unstructured environment, the present localization approaches, such as GPS measurement, dead?rcckoning, acoustic positioning, artificial landmarks-based method, are hard to be used for multiple small-scale underwater robots. Therefore, this paper proposes a novel RGB-D camera and Inertial Measurement Unit (IMU) fusion-based cooperative and relative close-range localization approach for special environments, such as underwater caves. Owing to the rotation movement with zero-radius, the cooperative localization of Multiple Turtle-inspired Amphibious Spherical Robot (MTASRs) is realized. Firstly, we present an efficient Histogram of Oriented Gradient (HOG) and Color Names (CNs) fusion feature extracted from color images ofTASRs. Then, by training Support Vector Machine (SVM) classifier with this fusion feature, an automatic recognition method of TASRs is developed. Secondly, RGB-D camerabased measurement model is obtained by the depth map In order to realize the cooperative and relative close-range localization of MTASRs, the MTASRs model is established with RGB-D camera and IMU. Finally, the depth measurement in water is corrected and the efficiency of RGB-D camera for underwater application is validated. Then experiments of our proposed localization method with three robots were conducted and the results verified the feasibility of the proposed method for MTASRs. | Huiming Xing Liwei Shi Kun Tang Shuxiang Guo Xihuan Hou Yu Liu Huikang Liu Yao Hu | 2019 | Journal of Bionic Engineering2019，16，3： | 6 |
| 2 | Locomotion Performance of the Amphibious Robot on Various Terrains and Underwater with Flexible Flipper Legs显示文摘 | Bin Zhong Youcheng Zhou Xiaoxiang Li Min Xu Shiwu Zhang | 2016 | Journal of Bionic Engineering2016，13，4： | 5 |
| 3 | A Fuzzy PID Algorithm for a Novel Miniature Spherical Robots with Three-dimensional Underwater Motion Control显示文摘We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and rescue.Our third-generation bionic small amphibious spherical robots have many disadvantages,such as the lack of maneuverability and a small operating range.It is difficult to accomplish underwater autonomous motion control with these robots.Therefore,we proposed a fourth-generation amphibious spherical robot.However,the amphibious spherical robot developed in this project has a small and compact design,with limited sensors and external sensing options.This means that the robot has weak external information collection capabilities.We need to make the real time operation of the robot's underwater motion control system more reliable.In this paper,we mainly used a fuzzy Proportional-Integral-Derivative(PID)control algorithm to design an underwater motion control system for a novel robot.Moreover,we compared PID with fuzzy PID control methods by carrying out experiments on heading and turning bow motions to verify that the fuzzy PID is more robust and exhibits good dynamic performance.We also carried out experiments on the three-dimensional(3D)motion control to validate the design of the underwater motion control system. | Liwei Shi Yao Hu Shuxiang Su Shuxiang Guo Huiming Xing Xihuan Hou Yu Liu Zhan Chen Zan Li Debin Xia | 2020 | Journal of Bionic Engineering2020，17，5： | 4 |
| 4 | 水下球形机器人视觉防碰撞编队策略显示文摘为解决小型水下机器人编队系统协调周期长、碰撞事故率高等问题,提出一种基于双目视觉的领航者-跟随编队形成方法。利用水下球形机器人平台的双目视觉系统通过点匹配算法实现机器人的3维相对定位,将视觉系统解算的控制量作为机器人运动控制的输入量,根据机器人的运动性能设置安全阈值以实现机器人的水下防碰撞编队,开展2个球形机器人的编队实物实验。结果表明,该方法具备有效性。 | 石立伟 鲍鹏筱 陈占 郭书祥 | 2022 | 兵工自动化2022，41，10： | 3 |
| 5 | 水下推进形式应用现状及发展趋势显示文摘对国内外水下推进形式的应用现状进行总结,对其工作原理进行介绍,在此基础上分析各种推进形式存在的关键问题,并据此对水下推进形式发展趋势进行分析。研究表明,目前推进形式正朝着多样化、轻量化、混合化、高度仿生化、高适应性及高智能化的方向发展。 | 张继威 于复生 隽志龙 魏井波 范银辉 | 2021 | 船舶工程2021，43，6： | 3 |
| 6 | 水陆两栖仿生机器人构形、运动机理及建模控制综述显示文摘从水陆两栖机器人本体构形、推进动力学建模、多环境运动控制等方面对水陆两栖机器人近期的研究现状进行综述。首先,按照两栖机器人结构类型将两栖机器人分为腿式推进、轮腿/鳍复合式推进、蛇形推进、球形两栖机器人等;然后,介绍两栖机器人在水、陆环境中推进的动力学建模方法,以及目前常用于水陆两栖机器人的多环境运动控制策略。最后归纳得到两栖机器人的关键技术及未来发展方向,包括新型推进机构设计、系统建模、推进机理研究和多模态自主控制技术等。 | 张建 周俊杰 苑士华 荆崇波 | 2023 | 机器人2023，45，3： | 2 |
| 7 | Path Optimization Method for the Spherical Underwater Robot in Unknown Environment显示文摘One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt events.For the Spherical Underwater Robot(SUR)to fulfill autonomous task execution,this paper proposed a novel fuzzy control method that incorporates multi-sensor technology to guide underwater robots in unknown environment.To attain the objective,a SUR we designed is used to design the controller.According to its kinematic model,the safety distance was calculated and sensors(US1000-21 A)were arranged.The novel fuzzy control method was then explored for robot's path planning in an unknown environment through simulation.The simulation results demonstrate the capability of the proposed method to guide the robot,and to generate a safe and smooth trajectory in an unknown environment.The effectiveness of the proposed method was further verified through experiments with a SUR in a real platform.The real environment experiments by using the novel fuzzy control method were compared with the basic control method.The experimental results show that in unknown environments,the proposed method improves the execution efficiency and flexibility of the SUR. | Jian Guo Chunying Li Shuxiang Guo | 2020 | Journal of Bionic Engineering2020，17，5： | 0 |
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