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Silva AB, Murcia M, Mohseni O, Takahashi R, Forner-Cordero A, Seyfarth A, Hosoda K, Sharbafi MA. Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots. Biomimetics (Basel) 2024; 9:164. [PMID: 38534849 DOI: 10.3390/biomimetics9030164] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/01/2024] [Revised: 02/29/2024] [Accepted: 03/04/2024] [Indexed: 03/28/2024] Open
Abstract
Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric-pneumatic actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monoped robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, (1) provide opportunities to study different locomotor subfunctions-stance, swing, and balance; (2) help investigate the role of actuation schemes in tasks such as hopping and walking; and (3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.
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Affiliation(s)
- Alessandro Brugnera Silva
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
- Biomechatronics Laboratory, Department of Mechatronics and Mechanical Systems of the Polytechnic School of the University of São Paulo (USP), São Paulo 05508-030, SP, Brazil
| | - Marc Murcia
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
| | - Omid Mohseni
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
| | - Ryu Takahashi
- Adaptive Robotics Laboratory, Graduate School of Engineering Science, Osaka University, Toyonaka 560-0043, Japan
| | - Arturo Forner-Cordero
- Biomechatronics Laboratory, Department of Mechatronics and Mechanical Systems of the Polytechnic School of the University of São Paulo (USP), São Paulo 05508-030, SP, Brazil
| | - Andre Seyfarth
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
| | - Koh Hosoda
- Adaptive Robotics Laboratory, Graduate School of Engineering Science, Osaka University, Toyonaka 560-0043, Japan
- Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan
| | - Maziar Ahmad Sharbafi
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
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Galljamov R, Ahmadi A, Mohseni O, Seyfarth A, Beckerle P, Sharbafi MA. Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3095024] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Mao JW, Chen ZD, Han DD, Ma JN, Zhang YL, Sun HB. Nacre-inspired moisture-responsive graphene actuators with robustness and self-healing properties. NANOSCALE 2019; 11:20614-20619. [PMID: 31641724 DOI: 10.1039/c9nr06579b] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Moisture-responsive actuators based on graphene oxide (GO) have attracted intensive research interest in recent years. However, current GO actuators suffer from low mechanical strength. Inspired by the robustness of nacre's structure, moisture-responsive actuators with high mechanical strength and self-healing properties were successfully developed based on GO and cellulose fiber (CF) hybrids. The hybrid paper demonstrated significantly improved tensile strength, ∼20 times higher than that of pure GO paper, and self-healing properties. A broken paper can be well cured under moist conditions, and the mechanical properties of the self-healed hybrid paper can still maintain similar tensile strength to the pristine one. After controllable ultraviolet light photoreduction treatment, a hybrid paper with a photoreduction gradient along the normal direction was prepared, which can act as a moisture-responsive actuator. A maximum bending curvature of ∼1.48 cm-1 can be achieved under high relative humidity (RH = 97%). As a proof-of-concept, a butterfly-like actuator that can deform itself with moisture actuation was demonstrated. Our approach may pave a new way for designing robust and self-healable graphene actuators.
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Affiliation(s)
- Jiang-Wei Mao
- State Key Laboratory of Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University, 2699 Qianjin Street, Changchun 130012, China.
| | - Zhao-Di Chen
- State Key Laboratory of Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University, 2699 Qianjin Street, Changchun 130012, China.
| | - Dong-Dong Han
- State Key Laboratory of Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University, 2699 Qianjin Street, Changchun 130012, China.
| | - Jia-Nan Ma
- State Key Laboratory of Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University, 2699 Qianjin Street, Changchun 130012, China.
| | - Yong-Lai Zhang
- State Key Laboratory of Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University, 2699 Qianjin Street, Changchun 130012, China.
| | - Hong-Bo Sun
- State Key Laboratory of Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University, 2699 Qianjin Street, Changchun 130012, China. and State Key Lab of Precision Measurement Technology and Instruments, Department of Precision Instrument, Tsinghua University, Haidian, Beijing 100084, China
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