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| 1 | Bioinspired Segment Robot with Earthworm-like Plane Locomotion显示文摘 | Chang-Woo Song Dong-Jun Lee Seung-Yop Lee | 2016 | Journal of Bionic Engineering2016，13，2： | 4 |
| 2 | Miniaturized Twin-legged Robot with an Electromagnetic Oscillatory Actuator显示文摘 | Buhyun Shin Youngshik Kim Jamie Paik Kyung-min Lee | 2018 | Journal of Bionic Engineering2018，15，1： | 2 |
| 3 | 基于Hopf振荡器的船舱检测机器人步态规划研究显示文摘船舶等海洋工程装备其舱内具有设备众多、空间受限和结构复杂等特点,传统人工巡检不能解决安全和效率的问题。针对这些问题,结合仿生技术,采用负压吸附和电磁吸附两种吸附方式,设计一种船舱检测的多模式攀爬机器人,该机器人能够在狭小空间运动,并且能够适应不同材质的壁面。基于改进的D-H参数法建立机器人运动学模型,进行运动学正解、逆解的计算;分析机器人运动步态,对比传统的步态控制方法,提出基于Hopf振荡器的机器人步态规划策略;搭建样机控制平台,进行步态控制对比测试。实验结果验证了多模式船舱检测机器人的步态规划的稳定性,为船舶等海工装备新形态检测机器人的研究拓展了新的思路。 | 眭翔 周瑞吉 徐林森 刘进福 龙杰 李泽林 | 2022 | 机床与液压2022，50，24： | 1 |
| 4 | 仿尺蠖多模式爬壁机器人设计与控制方法研究显示文摘对于高层建筑清洁、大型化工罐体焊接与检测以及管道、隧道等狭小空间的安全巡查,传统方式为人工操作,存在安全隐患及效率低下等缺点,针对这些问题,提出了一种爬壁机器人设计方案;通过研究自然界尺蠖类生物的壁面攀爬机理,结合仿生技术,利用真空吸附和爪刺抓附两种附着技术,研发了一种仿尺蠖多模式爬壁机器人;首先在静态条件下,采用D-H参数法建立了机器人运动学数学模型,求解了机器人运动学的正、逆解,然后进行了基于极坐标理论的机器人控制方法研究,分析了了步态控制策略,并基于嵌入式控制器搭建了实际样机的控制系统,进行了功能性测试,验证了爬壁机器人的运动学模型的正确性和步态控制方法的平稳性,为双足类仿生机器人进一步研究提供了参考。 | 眭翔 徐林森 周瑞吉 刘进福 龙杰 | 2022 | 计算机测量与控制2022，30，10： | 1 |
| 5 | Biomechanical Analysis of a Radial Expansion Mechanism of Intestinal Robot Coupling with Hyperelastic Intestinal Wall显示文摘This paper proposes a new type of radial expansion mechanism by adopting the scissor type telescopic design for intestinal robot to meet the requirements of the intestinal robot’s movement and residence in the intestinal tract.The robot’s maximum expansion radius is up to 25mm,which can well adapt to the intestinal tract with different diameters.At first,the mathematical model of the scissors-type telescopic mechanism(STM)is established to further study its dynamics characteristics by theoretical analysis and simulation.Then,in order to study the coupling effect between the STM and intestinal wall,the strain-energy function of Fung-type is used to establish the constitutive model of intestinal wall.Moreover,aimed at solving the non-convergence problem caused by the selection of material parameters in general Fung-type model,the restrictions for selecting material parameters were given by using positive definite matrix theory.Furthermore,the motion coupling characteristics between the mechanism and intestinal wall were analyzed by using the finite element method.The result shows that if the expansion radius of the STM exceeds a certain value,the intestinal wall may reach its deformation limit,which means that the maximum rotating angle of the three-claw butterfly disc of STM can be decided based on the maximum deformation stress of the intestinal wall.Therefore,it provides a design basis for formulating a reasonable expansion radius in mechanism control to avoid damage to the intestinal wall. | 刘大生 颜国正 | 2022 | Journal of Shanghai Jiaotong university(Science)2022，27，4： | 0 |
| 6 | Moving Mechanism of a High-speed Insect-scale Microrobot via Electro-magnetically Induced Vibration显示文摘This paper presents the moving mechanism of a high-speed insect-scale microrobot via electromagnetically induced vibration of two simply supported beams.The microrobot,which has a body length of 12.3 mm and a total mass of 137 mg,can achieve reciprocating lift motion of forelegs without any intermediate linkage mechanisms due to the design of an obliquely upward body tilt angle.The gait study shows that the body tilt angle prevents the forelegs from swinging backward when the feet contact the ground,which results in a forward friction force applied on the feet.During forward movement,the microrobot utilizes the elastic deformation of the simply supported beams as driving force to slide forward and its forelegs and rear legs work as pivots alternatively in a way similar to the movement of soft worms.The gait analysis also indicates that the moving direction of the microrobot is determined by whether its body tilt angle is obliquely upward or downward,and its moving speed is also related to the body tilt angle and as well as the body height.Under an applied AC voltage of 4 V,the microrobot can achieve a moving speed at 23.2 cm s1(18.9 body lengths per second),which is comparable to the fastest speed(20 cm s-1 or 20 body lengths per second)among the published insect-scale microrobots.The high-speed locomotion performance of the microrobot validates the feasibility of the presented actuation scheme and moving mechanism. | Xinyi Liu Zhiwei Liu Yangsheng Zhu Jiaming Leng Mingjing Qi Jianmei Huang Xiaojun Yan | 2021 | Journal of Bionic Engineering2021，18，3： | 0 |
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