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Guo X, Tang W, Qin K, Zhong Y, Xu H, Qu Y, Li Z, Sheng Q, Gao Y, Yang H, Zou J. Powerful UAV manipulation via bioinspired self-adaptive soft self-contained gripper. SCIENCE ADVANCES 2024; 10:eadn6642. [PMID: 38718123 PMCID: PMC11078182 DOI: 10.1126/sciadv.adn6642] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/20/2023] [Accepted: 04/08/2024] [Indexed: 05/12/2024]
Abstract
Existing grippers for unmanned aerial vehicle (UAV) manipulation have persistent challenges, highlighting a need for grippers that are soft, self-adaptive, self-contained, easy to control, and lightweight. Inspired by tendril plants, we propose a class of soft grippers that are voltage driven and based on winding deformation for self-adaptive grasping. We design two types of U-shaped soft eccentric circular tube actuators (UCTAs) and propose using the liquid-gas phase-transition mechanism to actuate UCTAs. Two types of UCTAs are separately cross-arranged to construct two types of soft grippers, forming self-contained systems that can be directly driven by voltage. One gripper inspired by tendril climbers can be used for delicate grasping, and the other gripper inspired by hook climbers can be used for strong grasping. These grippers are ideal for deployment in UAVs because of their self-adaptability, ease of control, and light weight, paving the way for UAVs to achieve powerful manipulation with low positioning accuracy, no complex grasping planning, self-adaptability, and multiple environments.
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Affiliation(s)
- Xinyu Guo
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Institute of Process Equipment, College of Energy Engineering, Zhejiang University, Hangzhou 310027, China
| | - Kecheng Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huxiu Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yang Qu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Zhaoyang Li
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Qincheng Sheng
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yidan Gao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
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Zhang C, Shao W, Hao Y. A bionic bird jumping grasping structure design based on stm32 development board control. Sci Rep 2024; 14:10435. [PMID: 38714737 DOI: 10.1038/s41598-024-61285-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/17/2023] [Accepted: 05/03/2024] [Indexed: 05/10/2024] Open
Abstract
During takeoff and landing, birds bounce and grab with their legs and feet. In this paper,the lower limb structure of the bionic bird is designed with reference to the function of jumping and grasping, and the PID algorithm based on the development module of stm32 development board is used to speed control the lower limb driving element, so that the motor and the bishaft steering gear move with the rate change of sine wave. According to the speed of grasping response time and the size of grasping force, the structure of the bionic bird paw is designed. Based on the photosensitive sensor fixed in the geometric center of the foot, the grasping action of the lower limb mechanism is intelligently controlled. Finally, the kinematic verification of the lower limb structure is carried out by ADAMS. Experiments show that the foot structure with four toes and three toes is more conducive to maintaining the stability of the body while realizing the fast grasping function. In addition, it can effectively improve the push-lift ratio of the bionic ornithopter by adjusting the sinusoidal waveform rate of the motor speed.
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Affiliation(s)
- Chunpeng Zhang
- School of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110159, China
- Liaoning Key Laboratory of Advanced Manufacturing Technology and Equipment, Shenyang, 110159, China
| | - Weiping Shao
- School of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110159, China.
- Liaoning Key Laboratory of Advanced Manufacturing Technology and Equipment, Shenyang, 110159, China.
| | - Yongping Hao
- School of Equipment Engineering, Shenyang Ligong University, Shenyang, 110159, China
- Liaoning Key Laboratory of Advanced Manufacturing Technology and Equipment, Shenyang, 110159, China
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Hammad A, Armanini SF. Landing and take-off capabilities of bioinspired aerial vehicles: a review. BIOINSPIRATION & BIOMIMETICS 2024; 19:031001. [PMID: 38467070 DOI: 10.1088/1748-3190/ad3263] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/25/2023] [Accepted: 03/11/2024] [Indexed: 03/13/2024]
Abstract
Bioinspired flapping-wing micro aerial vehicles (FWMAVs) have emerged over the last two decades as a promising new type of robot. Their high thrust-to-weight ratio, versatility, safety, and maneuverability, especially at small scales, could make them more suitable than fixed-wing and multi-rotor vehicles for various applications, especially in cluttered, confined environments and in close proximity to humans, flora, and fauna. Unlike natural flyers, however, most FWMAVs currently have limited take-off and landing capabilities. Natural flyers are able to take off and land effortlessly from a wide variety of surfaces and in complex environments. Mimicking such capabilities on flapping-wing robots would considerably enhance their practical usage. This review presents an overview of take-off and landing techniques for FWMAVs, covering different approaches and mechanism designs, as well as dynamics and control aspects. The special case of perching is also included. As well as discussing solutions investigated for FWMAVs specifically, we also present solutions that have been developed for different types of robots but may be applicable to flapping-wing ones. Different approaches are compared and their suitability for different applications and types of robots is assessed. Moreover, research and technology gaps are identified, and promising future work directions are identified.
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Affiliation(s)
- Ahmad Hammad
- eAviation Laboratory, TUM School of Engineering and Design, Technical University Munich, Ottobrunn, Germany
| | - Sophie F Armanini
- eAviation Laboratory, TUM School of Engineering and Design, Technical University Munich, Ottobrunn, Germany
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Senthil P, Vishanagra O, Sparkman J, Smith P, Manero A. Design and Assessment of Bird-Inspired 3D-Printed Models to Evaluate Grasp Mechanics. Biomimetics (Basel) 2024; 9:195. [PMID: 38667206 PMCID: PMC11048456 DOI: 10.3390/biomimetics9040195] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/12/2024] [Revised: 03/13/2024] [Accepted: 03/22/2024] [Indexed: 04/28/2024] Open
Abstract
Adapting grasp-specialized biomechanical structures into current research with 3D-printed prostheses may improve robotic dexterity in grasping a wider variety of objects. Claw variations across various bird species lend biomechanical advantages for grasping motions related to perching, climbing, and hunting. Designs inspired by bird claws provide improvements beyond a human-inspired structure for specific grasping applications to offer a solution for mitigating a cause of the high rejection rate for upper-limb prostheses. This research focuses on the design and manufacturing of two robotic test devices with different toe arrangements. The first, anisodactyl (three toes at the front, one at the back), is commonly found in birds of prey such as falcons and hawks. The second, zygodactyl (two toes at the front, two at the back), is commonly found in climbing birds such as woodpeckers and parrots. The evaluation methods for these models included a qualitative variable-object grasp assessment. The results highlighted design features that suggest an improved grasp: a small and central palm, curved distal digit components, and a symmetrical digit arrangement. A quantitative grip force test demonstrated that the single digit, the anisodactyl claw, and the zygodactyl claw designs support loads up to 64.3 N, 86.1 N, and 74.1 N, respectively. These loads exceed the minimum mechanical load capabilities for prosthetic devices. The developed designs offer insights into how biomimicry can be harnessed to optimize the grasping functionality of upper-limb prostheses.
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Affiliation(s)
| | | | | | | | - Albert Manero
- Limbitless Solutions, University of Central Florida, 12703 Research Parkway, Suite 100, Orlando, FL 32826, USA; (P.S.); (O.V.)
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Li J, Yin F, Tian Y. Biomimetic Structure and Surface for Grasping Tasks. Biomimetics (Basel) 2024; 9:144. [PMID: 38534829 DOI: 10.3390/biomimetics9030144] [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: 01/20/2024] [Revised: 02/19/2024] [Accepted: 02/20/2024] [Indexed: 03/28/2024] Open
Abstract
Under water, on land, or in the air, creatures use a variety of grasping methods to hunt, avoid predators, or carry food. Numerous studies have been conducted to construct a bionic surface for grasping tasks. This paper reviews the typical biomimetic structures and surfaces (wedge-shaped surface, suction cup surface and thorn claw surface) for grasping scenarios. Initially, progress in gecko-inspired wedge-shaped adhesive surfaces is reviewed, encompassing the underlying mechanisms that involve tuning the contact area and peeling behavior. The applications of grippers utilizing this adhesive technology are also discussed. Subsequently, the suction force mechanisms and applications of surfaces inspired by octopus and remora suction cups are outlined. Moreover, this paper introduces the applications of robots incorporating the principles of beetle-inspired and bird-inspired thorn claw structures. Lastly, inspired by remoras' adhesive discs, a composite biomimetic adhesive surface is proposed. It integrates features from wedge-shaped, suction cup, and claw thorn surfaces, potentially surpassing the adaptability of basic bioinspired surfaces. This surface construction method offers a potential avenue to enhance adhesion capabilities with superior adaptability to surface roughness and curvature.
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Affiliation(s)
- Jingyang Li
- State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
| | - Fujie Yin
- Xingjian College, Tsinghua University, Beijing 100084, China
| | - Yu Tian
- State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
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Zhang K, Pakrashi V, Murphy J, Hao G. Inspection of Floating Offshore Wind Turbines Using Multi-Rotor Unmanned Aerial Vehicles: Literature Review and Trends. SENSORS (BASEL, SWITZERLAND) 2024; 24:911. [PMID: 38339628 PMCID: PMC10857435 DOI: 10.3390/s24030911] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/20/2023] [Revised: 01/23/2024] [Accepted: 01/26/2024] [Indexed: 02/12/2024]
Abstract
Operations and maintenance (O&M) of floating offshore wind turbines (FOWTs) require regular inspection activities to predict, detect, and troubleshoot faults at high altitudes and in harsh environments such as strong winds, waves, and tides. Their costs typically account for more than 30% of the lifetime cost due to high labor costs and long downtime. Different inspection methods, including manual inspection, permanent sensors, climbing robots, remotely operated vehicles (ROVs), and unmanned aerial vehicles (UAVs), can be employed to fulfill O&M missions. The UAVs, as an enabling technology, can deal with time and space constraints easily and complete tasks in a cost-effective and efficient manner, which have been widely used in different industries in recent years. This study provides valuable insights into the existing applications of UAVs in FOWT inspection, highlighting their potential to reduce the inspection cost and thereby reduce the cost of energy production. The article introduces the rationale for applying UAVs to FOWT inspection and examines the current technical status, research gaps, and future directions in this field by conducting a comprehensive literature review over the past 10 years. This paper will also include a review of UAVs' applications in other infrastructure inspections, such as onshore wind turbines, bridges, power lines, solar power plants, and offshore oil and gas fields, since FOWTs are still in the early stages of development. Finally, the trends of UAV technology and its application in FOWTs inspection are discussed, leading to our future research direction.
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Affiliation(s)
- Kong Zhang
- School of Engineering and Architecture, University College Cork, T12 K8AF Cork, Ireland; (K.Z.); (J.M.)
- Marine and Renewable Energy Ireland, Environmental Research Institute, University College Cork, P43 C573 Cork, Ireland
| | - Vikram Pakrashi
- UCD Centre for Mechanics, Dynamical Systems and Risk Laboratory, School of Mechanical and Materials Engineering, University College Dublin, D04 V1W8 Dublin, Ireland;
| | - Jimmy Murphy
- School of Engineering and Architecture, University College Cork, T12 K8AF Cork, Ireland; (K.Z.); (J.M.)
- Marine and Renewable Energy Ireland, Environmental Research Institute, University College Cork, P43 C573 Cork, Ireland
| | - Guangbo Hao
- School of Engineering and Architecture, University College Cork, T12 K8AF Cork, Ireland; (K.Z.); (J.M.)
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Zhang Y, Wang T, He W, Zhu S. Human-Powered Master Controllers for Reconfigurable Fluidic Soft Robots. Soft Robot 2023; 10:1126-1136. [PMID: 37196160 DOI: 10.1089/soro.2022.0077] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/19/2023] Open
Abstract
Fluidic soft robots have the advantages of inherent compliance and adaptability, but they are significantly restricted by complex control systems and bulky power devices, including fluidic valves, fluidic pumps, electrical motors, as well as batteries, which make it challenging to operate in narrow space, energy shortage, or electromagnetic sensitive situations. To overcome the shortcomings, we develop portable human-powered master controllers to provide an alternative solution for the master-slave control of the fluidic soft robots. Each controller can supply multiple fluidic pressures to the multiple chambers of the soft robots simultaneously. We use modular fluidic soft actuators to reconfigure soft robots with various functions as control objects. Experimental results show that flexible manipulation and bionic locomotion can be simply realized using the human-powered master controllers. The developed controllers which eliminate energy storage and electronic components can provide a promising candidate of soft robot control in surgical, industrial, and entertainment applications.
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Affiliation(s)
- Yunce Zhang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
| | - Tao Wang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan, China
| | - Weidong He
- Ocean College, Zhejiang University, Zhoushan, China
| | - Shiqiang Zhu
- Ocean College, Zhejiang University, Zhoushan, China
- Zhejiang Lab, Hangzhou, China
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Nekoo SR, Ollero A. Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and experiment. ISA TRANSACTIONS 2023; 142:635-652. [PMID: 37574420 DOI: 10.1016/j.isatra.2023.08.001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/20/2023] [Revised: 08/01/2023] [Accepted: 08/02/2023] [Indexed: 08/15/2023]
Abstract
The flapping-wing technology has emerged recently in the application of unmanned aerial robotics for autonomous flight, control, inspection, monitoring, and manipulation. Despite the advances in applications and outdoor manual flights (open-loop control), closed-loop control is yet to be investigated. This work presents a nonlinear optimal closed-loop control design via the state-dependent Riccati equation (SDRE) for a flapping-wing flying robot (FWFR). Considering that the dynamic modeling of the flapping-wing robot is complex, a proper model for the implementation of nonlinear control methods is demanded. This work proposes an alternative approach to deliver an equivalent dynamic for the translation of the system and a simplified model for orientation, to find equivalent dynamics for the whole system. The objective is to see the effect of flapping (periodic oscillation) on behavior through a simple model in simulation. Then the SDRE controller is applied to the derived model and implemented in simulations and experiments. The robot bird is a 1.6 m wingspan flapping-wing system (six-degree-of-freedom robot) with four actuators, three in the tail, and one as the flapping input. The underactuated system has been controlled successfully in position and orientation. The control loop is closed by the motion capture system in the indoor test bed where the experiments of flight have been successfully done.
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Affiliation(s)
- Saeed Rafee Nekoo
- The GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Seville, 41092, Spain.
| | - Anibal Ollero
- The GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Seville, 41092, Spain; FADA-CATEC, Centro Avanzado de Tecnologías Aeroespaciales, Seville, 41300, Spain.
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9
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Liu H, Tian H, Wang D, Yuan T, Zhang J, Liu G, Li X, Chen X, Wang C, Cai S, Shao J. Electrically active smart adhesive for a perching-and-takeoff robot. SCIENCE ADVANCES 2023; 9:eadj3133. [PMID: 37889978 PMCID: PMC10610914 DOI: 10.1126/sciadv.adj3133] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/19/2023] [Accepted: 09/25/2023] [Indexed: 10/29/2023]
Abstract
Perching-and-takeoff robot can effectively economize onboard power and achieve long endurance. However, dynamic perching on moving targets for a perching-and-takeoff robot is still challenging due to less autonomy to dynamically land, tremendous impact during landing, and weak contact adaptability to perching surfaces. Here, a self-sensing, impact-resistant, and contact-adaptable perching-and-takeoff robot based on all-in-one electrically active smart adhesives is proposed to reversibly perch on moving/static dry/wet surfaces and economize onboard energy. Thereinto, attachment structures with discrete pillars have contact adaptability on different dry/wet surfaces, stable adhesion, and anti-rebound; sandwich-like artificial muscles lower weight, enhance damping, simplify control, and achieve fast adhesion switching (on-off ratio approaching ∞ in several seconds); and the flexible pressure (0.204% per kilopascal)-and-deformation (force resolution, <2.5 millinewton) sensor enables the robot's autonomy. Thus, the perching-and-takeoff robot equipped with electrically active smart adhesives exhibits tremendous advantages of soft materials over their rigid counterparts and promising application prospect of dynamic perching on moving targets.
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Affiliation(s)
- Haoran Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
- Frontier Institute of Science and Technology (FIST), Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Hongmiao Tian
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Duorui Wang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Tengfei Yuan
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Jinyu Zhang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Guifang Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Xiangming Li
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
- Frontier Institute of Science and Technology (FIST), Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Xiaoliang Chen
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
- Frontier Institute of Science and Technology (FIST), Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Chunhui Wang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Shengqiang Cai
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA 92093, USA
| | - Jinyou Shao
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
- Frontier Institute of Science and Technology (FIST), Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
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Chellapurath M, Khandelwal PC, Schulz AK. Bioinspired robots can foster nature conservation. Front Robot AI 2023; 10:1145798. [PMID: 37920863 PMCID: PMC10619165 DOI: 10.3389/frobt.2023.1145798] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/16/2023] [Accepted: 09/25/2023] [Indexed: 11/04/2023] Open
Abstract
We live in a time of unprecedented scientific and human progress while being increasingly aware of its negative impacts on our planet's health. Aerial, terrestrial, and aquatic ecosystems have significantly declined putting us on course to a sixth mass extinction event. Nonetheless, the advances made in science, engineering, and technology have given us the opportunity to reverse some of our ecosystem damage and preserve them through conservation efforts around the world. However, current conservation efforts are primarily human led with assistance from conventional robotic systems which limit their scope and effectiveness, along with negatively impacting the surroundings. In this perspective, we present the field of bioinspired robotics to develop versatile agents for future conservation efforts that can operate in the natural environment while minimizing the disturbance/impact to its inhabitants and the environment's natural state. We provide an operational and environmental framework that should be considered while developing bioinspired robots for conservation. These considerations go beyond addressing the challenges of human-led conservation efforts and leverage the advancements in the field of materials, intelligence, and energy harvesting, to make bioinspired robots move and sense like animals. In doing so, it makes bioinspired robots an attractive, non-invasive, sustainable, and effective conservation tool for exploration, data collection, intervention, and maintenance tasks. Finally, we discuss the development of bioinspired robots in the context of collaboration, practicality, and applicability that would ensure their further development and widespread use to protect and preserve our natural world.
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Affiliation(s)
- Mrudul Chellapurath
- Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- KTH Royal Institute of Technology, Stockholm, Sweden
| | - Pranav C. Khandelwal
- Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute of Flight Mechanics and Controls, University of Stuttgart, Stuttgart, Germany
| | - Andrew K. Schulz
- Max Planck Institute for Intelligent Systems, Stuttgart, Germany
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11
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Ye W, Zhao L, Luo X, Guo J, Liu X. Perceptual Soft End-Effectors for Future Unmanned Agriculture. SENSORS (BASEL, SWITZERLAND) 2023; 23:7905. [PMID: 37765962 PMCID: PMC10537409 DOI: 10.3390/s23187905] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2023] [Revised: 08/19/2023] [Accepted: 08/28/2023] [Indexed: 09/29/2023]
Abstract
As consumers demand ever-higher quality standards for agricultural products, the inspection of such goods has become an integral component of the agricultural production process. Unfortunately, traditional testing methods necessitate the deployment of numerous bulky machines and cannot accurately determine the quality of produce prior to harvest. In recent years, with the advancement of soft robot technology, stretchable electronic technology, and material science, integrating flexible plant wearable sensors on soft end-effectors has been considered an attractive solution to these problems. This paper critically reviews soft end-effectors, selecting the appropriate drive mode according to the challenges and application scenarios in agriculture: electrically driven, fluid power, and smart material actuators. In addition, a presentation of various sensors installed on soft end-effectors specifically designed for agricultural applications is provided. These sensors include strain, temperature, humidity, and chemical sensors. Lastly, an in-depth analysis is conducted on the significance of implementing soft end-effectors in agriculture as well as the potential opportunities and challenges that will arise in the future.
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Affiliation(s)
- Weikang Ye
- College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; (W.Y.)
| | - Lin Zhao
- College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; (W.Y.)
| | - Xuan Luo
- College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; (W.Y.)
| | - Junxian Guo
- College of Mechanical Engineering, Xinjiang Agricultural University, Urumqi 830052, China
| | - Xiangjiang Liu
- College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China; (W.Y.)
- College of Mechanical Engineering, Xinjiang Agricultural University, Urumqi 830052, China
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12
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Nguyen PH, Patnaik K, Mishra S, Polygerinos P, Zhang W. A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive Perching. Soft Robot 2023; 10:838-851. [PMID: 37079376 DOI: 10.1089/soro.2022.0010] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/21/2023] Open
Abstract
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch on objects of unknown shapes, sizes, and texture. Efforts to include compliance have introduced designs that incorporate external mechanical impact protection at the cost of reduced agility and flight time due to the added weight. In this work, we propose and develop a lightweight, inflatable, soft-bodied aerial robot (SoBAR) that can pneumatically vary its body stiffness to achieve intrinsic collision resilience. Unlike the conventional rigid aerial robots, SoBAR successfully demonstrates its ability to repeatedly endure and recover from collisions in various directions, not only limited to in-plane ones. Furthermore, we exploit its capabilities to demonstrate perching where the three-dimensional collision resilience helps in improving the perching success rates. We also augment SoBAR with a novel hybrid fabric-based bistable (HFB) grasper that can utilize impact energies to perform contact-reactive grasping through rapid shape conforming abilities. We exhaustively study and offer insights into the collision resilience, impact absorption, and manipulation capabilities of SoBAR with the HFB grasper. Finally, we compare the performance of conventional aerial robots with the SoBAR through collision characterizations, grasping identifications, and experimental validations of collision resilience and perching in various scenarios and on differently shaped objects.
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Affiliation(s)
- Pham H Nguyen
- School of Manufacturing Systems and Networks, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, Arizona, USA
| | - Karishma Patnaik
- School of Manufacturing Systems and Networks, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, Arizona, USA
| | - Shatadal Mishra
- School of Manufacturing Systems and Networks, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, Arizona, USA
| | - Panagiotis Polygerinos
- Control Systems and Robotics Laboratory (CSRL), School of Engineering, Mechanical Engineering Department, Hellenic Mediterranean University, Heraklion, Crete, Greece
| | - Wenlong Zhang
- School of Manufacturing Systems and Networks, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, Arizona, USA
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13
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Krasylenko Y, Rydlo K, Atamas N, Sosnovsky Y, Horielov O, Maceček I, Šamajová O, Ovečka M, Takáč T, Šamaj J. Druid Drone—A portable unmanned aerial vehicle with a multifunctional manipulator for forest canopy and mistletoe research and management. Methods Ecol Evol 2023. [DOI: 10.1111/2041-210x.14058] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/28/2023]
Affiliation(s)
- Yuliya Krasylenko
- Department of Biotechnology, Faculty of Science Palacký University Olomouc Olomouc Czechia
| | - Karol Rydlo
- Zall Letov Simulátory s.r.o. Palacký University Olomouc Olomouc Czechia
| | - Natalia Atamas
- Department of Animal Monitoring and Conservation I.I. Schmalhausen Institute of Zoology NASU Kyiv Ukraine
| | - Yevhen Sosnovsky
- Botanical Garden, Ivan Franko National University of Lviv Lviv Ukraine
| | - Oleksii Horielov
- Department of Dendrology M.M. Gryshko National Botanical Garden NASU Kyiv Ukraine
| | - Ivo Maceček
- Zall Letov Simulátory s.r.o. Palacký University Olomouc Olomouc Czechia
| | - Olga Šamajová
- Department of Biotechnology, Faculty of Science Palacký University Olomouc Olomouc Czechia
| | - Miroslav Ovečka
- Department of Biotechnology, Faculty of Science Palacký University Olomouc Olomouc Czechia
| | - Tomáš Takáč
- Department of Biotechnology, Faculty of Science Palacký University Olomouc Olomouc Czechia
| | - Jozef Šamaj
- Department of Biotechnology, Faculty of Science Palacký University Olomouc Olomouc Czechia
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14
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Aucone E, Kirchgeorg S, Valentini A, Pellissier L, Deiner K, Mintchev S. Drone-assisted collection of environmental DNA from tree branches for biodiversity monitoring. Sci Robot 2023; 8:eadd5762. [PMID: 36652506 DOI: 10.1126/scirobotics.add5762] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023]
Abstract
The protection and restoration of the biosphere is crucial for human resilience and well-being, but the scarcity of data on the status and distribution of biodiversity puts these efforts at risk. DNA released into the environment by organisms, i.e., environmental DNA (eDNA), can be used to monitor biodiversity in a scalable manner if equipped with the appropriate tool. However, the collection of eDNA in terrestrial environments remains a challenge because of the many potential surfaces and sources that need to be surveyed and their limited accessibility. Here, we propose to survey biodiversity by sampling eDNA on the outer branches of tree canopies with an aerial robot. The drone combines a force-sensing cage with a haptic-based control strategy to establish and maintain contact with the upper surface of the branches. Surface eDNA is then collected using an adhesive surface integrated in the cage of the drone. We show that the drone can autonomously land on a variety of branches with stiffnesses between 1 and 103 newton/meter without prior knowledge of their structural stiffness and with robustness to linear and angular misalignments. Validation in the natural environment demonstrates that our method is successful in detecting animal species, including arthropods and vertebrates. Combining robotics with eDNA sampling from a variety of unreachable aboveground substrates can offer a solution for broad-scale monitoring of biodiversity.
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Affiliation(s)
- Emanuele Aucone
- Environmental Robotics Laboratory, Department of Environmental Systems Science, Swiss Federal Institute of Technology (ETH) Zürich, Zürich, Switzerland.,Swiss Federal Institute for Forest, Snow, and Landscape Research WSL, Birmensdorf, Switzerland
| | - Steffen Kirchgeorg
- Environmental Robotics Laboratory, Department of Environmental Systems Science, Swiss Federal Institute of Technology (ETH) Zürich, Zürich, Switzerland.,Swiss Federal Institute for Forest, Snow, and Landscape Research WSL, Birmensdorf, Switzerland
| | | | - Loïc Pellissier
- Swiss Federal Institute for Forest, Snow, and Landscape Research WSL, Birmensdorf, Switzerland.,Ecosystems and Landscape Evolution Group, Department of Environmental Systems Science, Swiss Federal Institute of Technology (ETH) Zürich, Zürich, Switzerland
| | - Kristy Deiner
- Environmental DNA Group, Department of Environmental Systems Science, Swiss Federal Institute of Technology (ETH) Zürich, Zürich, Switzerland
| | - Stefano Mintchev
- Environmental Robotics Laboratory, Department of Environmental Systems Science, Swiss Federal Institute of Technology (ETH) Zürich, Zürich, Switzerland.,Swiss Federal Institute for Forest, Snow, and Landscape Research WSL, Birmensdorf, Switzerland
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15
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Zheng P, Xiao F, Nguyen PH, Farinha A, Kovac M. Metamorphic aerial robot capable of mid-air shape morphing for rapid perching. Sci Rep 2023; 13:1297. [PMID: 36690665 PMCID: PMC9870873 DOI: 10.1038/s41598-022-26066-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/27/2022] [Accepted: 12/08/2022] [Indexed: 01/24/2023] Open
Abstract
Aerial robots can perch onto structures at heights to reduce energy use or to remain firmly in place when interacting with their surroundings. Like how birds have wings to fly and legs to perch, these bio-inspired aerial robots use independent perching modules. However, modular design not only increases the weight of the robot but also its size, reducing the areas that the robot can access. To mitigate these problems, we take inspiration from gliding and tree-dwelling mammals such as sugar gliders and sloths. We noted how gliding mammals morph their whole limb to transit between flight and perch, and how sloths optimized their physiology to encourage energy-efficient perching. These insights are applied to design a quadrotor robot that transitions between morphologies to fly and perch with a single-direction tendon drive. The robot's bi-stable arm is rigid in flight but will conform to its target in 0.97 s when perching, holding its grasp with minimal energy use. We achieved a [Formula: see text] overall mass reduction by integrating this capability into a single body. The robot perches by a controlled descent or a free-falling drop to avoid turbulent aerodynamic effects. Our proposed design solution can fulfill the need for small perching robots in cluttered environments.
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Affiliation(s)
- Peter Zheng
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK.
- The Grantham Institute-Climate Change and the Environment, Imperial College London, London, SW7 2AZ, UK.
| | - Feng Xiao
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Pham Huy Nguyen
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Andre Farinha
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Mirko Kovac
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK.
- Laboratory of Sustainability Robotics, Swiss Federal Laboratories of Materials Science and Technology, 8600, Dübendorf, Switzerland.
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16
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Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation. Nat Commun 2022; 13:7700. [PMID: 36513668 PMCID: PMC9747793 DOI: 10.1038/s41467-022-35479-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/01/2022] [Accepted: 12/05/2022] [Indexed: 12/15/2022] Open
Abstract
Robotic grippers, inspired by human hands, show an extraordinary ability to manipulate objects of various shapes, sizes, or materials. However, capturing objects with varying kinetic energy remains challenging, regardless of the classical rigid-bodied or frontier soft-bodied grippers. Here, we demonstrate a rapid energy harvesting and dissipation mechanism for the soft grippers leveraging the finger-palm synergy. Theoretically and experimentally, this mechanism enables a soft gripper to reliably capture high-speed targets by dissipating and harvesting almost all the target's kinetic energy within 30 milliseconds. The energy harvesting and dissipating capability are adjustable and can be enhanced by inflating pressure. Additionally, the harvested energy is autonomously transferred into fingers to enhance their grasping force and reduce the response time. To highlight, the grippers we developed are integrated into a six-rotor drone and successfully capture flying objects in an outdoor experiment. These results significantly advance robotics development in achieving dynamic capture of dynamic targets.
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17
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Zufferey R, Tormo-Barbero J, Feliu-Talegón D, Nekoo SR, Acosta JÁ, Ollero A. How ornithopters can perch autonomously on a branch. Nat Commun 2022; 13:7713. [PMID: 36513661 PMCID: PMC9747916 DOI: 10.1038/s41467-022-35356-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/18/2022] [Accepted: 11/29/2022] [Indexed: 12/15/2022] Open
Abstract
Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, to extend their application scope, these robots must perch and land, a feat widely demonstrated by birds. Despite recent progress, flapping-wing vehicles, or ornithopters, are to this day unable to stop their flight. In this paper, we present a process to autonomously land an ornithopter on a branch. This method describes the joint operation of a pitch-yaw-altitude flapping flight controller, an optical close-range correction system and a bistable claw appendage design that can grasp a branch within 25 milliseconds and re-open. We validate this method with a 700 g robot and demonstrate the first autonomous perching flight of a flapping-wing robot on a branch, a result replicated with a second robot. This work paves the way towards the application of flapping-wing robots for long-range missions, bird observation, manipulation, and outdoor flight.
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Affiliation(s)
- Raphael Zufferey
- grid.9224.d0000 0001 2168 1229GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain ,grid.5333.60000000121839049Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
| | - Jesus Tormo-Barbero
- grid.9224.d0000 0001 2168 1229GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain
| | - Daniel Feliu-Talegón
- grid.9224.d0000 0001 2168 1229GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain
| | - Saeed Rafee Nekoo
- grid.9224.d0000 0001 2168 1229GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain
| | - José Ángel Acosta
- grid.9224.d0000 0001 2168 1229GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain
| | - Anibal Ollero
- grid.9224.d0000 0001 2168 1229GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain
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18
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Ruiz F, Arrue BC, Ollero A. SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3196768] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- F. Ruiz
- GRVC Robotics Lab of Seville, Seville, Spain
| | - B. C. Arrue
- GRVC Robotics Lab of Seville, Seville, Spain
| | - A. Ollero
- GRVC Robotics Lab of Seville, Seville, Spain
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19
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Nonoyama K, Shimizu M, Umedachi T. Upside-Down Brachiation Robot Using Elastic Energy Stored Through Soft Body Deformation. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3194947] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Kisuke Nonoyama
- Faculty of Textile Science and Technology, Shinshu University, Ueda City, Nagano, Japan
| | - Masahiro Shimizu
- Department of Systems Innovation, Graduate School of Engineering Science, Osaka University 1-2 Machikaneyama-machi, Toyonaka, Osaka, Japan
| | - Takuya Umedachi
- Faculty of Textile Science and Technology, Shinshu University, Ueda City, Nagano, Japan
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20
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Zhang Z, Chen J, Xu X, Liu C, Han Y. Hawk‐eye‐inspired perception algorithm of stereo vision for obtaining orchard 3D point cloud navigation map. CAAI TRANSACTIONS ON INTELLIGENCE TECHNOLOGY 2022. [DOI: 10.1049/cit2.12141] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022] Open
Affiliation(s)
- Zichao Zhang
- College of Engineering China Agricultural University Beijing China
| | - Jian Chen
- College of Engineering China Agricultural University Beijing China
| | - Xinyu Xu
- College of Engineering China Agricultural University Beijing China
- Jiangsu Province and Education Ministry Co‐sponsored Synergistic Innovation Center of Modern Agricultural Equipment Jiangsu University Zhenjiang China
- Key Laboratory of Spatial‐temporal Big Data Analysis and Application of Natural Resources in Megacities MNR Shanghai China
| | - Cunjia Liu
- Department of Aeronautical and Automotive Engineering Loughborough University Loughborough Leicestershire UK
| | - Yu Han
- College of Water Resources and Civil Engineering China Agricultural University Beijing China
- State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China
- Key Laboratory of Urban Land Resources Monitoring and Simulation Ministry of Natural Resources Shenzhen China
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21
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Jiang Z, Jovan F, Moradi P, Richardson T, Bernardini S, Watson S, Weightman A, Hine D. A multirobot system for autonomous deployment and recovery of a blade crawler for operations and maintenance of offshore wind turbine blades. J FIELD ROBOT 2022. [DOI: 10.1002/rob.22117] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
Affiliation(s)
- Zhengyi Jiang
- Department of Electrical and Electronic Engineering The University of Manchester Manchester UK
| | - Ferdian Jovan
- Department of Computer Science University of Bristol Bristol UK
| | - Peiman Moradi
- Department of Aerospace Engineering University of Bristol Bristol UK
| | - Tom Richardson
- Department of Aerospace Engineering University of Bristol Bristol UK
| | - Sara Bernardini
- Department of Computer Science Royal Holloway University of London Egham UK
| | - Simon Watson
- Department of Electrical and Electronic Engineering The University of Manchester Manchester UK
| | - Andrew Weightman
- Department of Mechanical, Aerospace and Civil Engineering The University of Manchester Manchester UK
| | - Duncan Hine
- Department of Aerospace Engineering University of Bristol Bristol UK
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22
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Sun X, Xu J, Qi Z. Mechanism properties of a bird-neck bionic rigid-flexible structure. FUNDAMENTAL RESEARCH 2022. [DOI: 10.1016/j.fmre.2022.06.023] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/16/2022] Open
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23
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Bioinspired Environment Exploration Algorithm in Swarm Based on Lévy Flight and Improved Artificial Potential Field. DRONES 2022. [DOI: 10.3390/drones6050122] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/05/2023]
Abstract
Inspired by the behaviour of animal populations in nature, we propose a novel exploration algorithm based on Lévy flight (LF) and artificial potential field (APF). The agent is extended to the swarm level using the APF method through the LF search environment. Virtual leaders generate moving steps to explore the environment through the LF mechanism. To achieve collision-free movement in an unknown constrained environment, a swarm-following mechanism is established, which requires the agents to follow the virtual leader to carry out the LF. The proposed method, combining the advantages of LF and APF which achieve the effect of flocking in an exploration environment, does not rely on complex sensors for environment labelling, memorising, or huge computing power. Agents simply perform elegant and efficient search behaviours as natural creatures adapt to the environment and change formations. The method is especially suitable for the camouflaged flocking exploration environment of bionic robots such as flapping drones. Simulation experiments and real-world experiments on E-puck2 robots were conducted to evaluate the effectiveness of the proposed LF-APF algorithm.
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24
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Land–Air–Wall Cross-Domain Robot Based on Gecko Landing Bionic Behavior: System Design, Modeling, and Experiment. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12083988] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
Based on the bionic behavior of geckos, this paper presents a land–air–wall cross-domain robot which can fly in air, run on the ground, and adhere to various wall surfaces. When geckos jump and adsorb to vertical surfaces such as trunks, they can still adsorb to the wall with a large contact speed. Inspired by this phenomenon, we analyze the mechanism, apply it to our robot, and optimize the design of the robot structure. In addition, geckos use their tails to adjust posture to achieve abdominal landing during the process of falling. Inspired by this phenomenon, based on the rotor lift/power curve, we optimize the center of gravity by controlling the servo angle. The initial center of gravity offset of the robot is estimated by the extended state observer. The method reduces the distance between the center of gravity and the geometric center, balances the load of each propeller, and finally reduces the total power. The experiment and simulation results validate the feasibility of the land–air–wall cross-domain robot and the bionic methods.
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25
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Meng J, Buzzatto J, Liu Y, Liarokapis M. On Aerial Robots with Grasping and Perching Capabilities: A Comprehensive Review. Front Robot AI 2022; 8:739173. [PMID: 35399745 PMCID: PMC8989736 DOI: 10.3389/frobt.2021.739173] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/10/2021] [Accepted: 11/23/2021] [Indexed: 12/01/2022] Open
Abstract
Over the last decade, there has been an increased interest in developing aerial robotic platforms that exhibit grasping and perching capabilities not only within the research community but also in companies across different industry sectors. Aerial robots range from standard multicopter vehicles/drones, to autonomous helicopters, and fixed-wing or hybrid devices. Such devices rely on a range of different solutions for achieving grasping and perching. These solutions can be classified as: 1) simple gripper systems, 2) arm-gripper systems, 3) tethered gripping mechanisms, 4) reconfigurable robot frames, 5) adhesion solutions, and 6) embedment solutions. Grasping and perching are two crucial capabilities that allow aerial robots to interact with the environment and execute a plethora of complex tasks, facilitating new applications that range from autonomous package delivery and search and rescue to autonomous inspection of dangerous or remote environments. In this review paper, we present the state-of-the-art in aerial grasping and perching mechanisms and we provide a comprehensive comparison of their characteristics. Furthermore, we analyze these mechanisms by comparing the advantages and disadvantages of the proposed technologies and we summarize the significant achievements in these two research topics. Finally, we conclude the review by suggesting a series of potential future research directions that we believe that are promising.
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Affiliation(s)
- Jiawei Meng
- Department of Mechanical Engineering, University College London, London, United Kingdom
- *Correspondence: Minas Liarokapis, ; Jiawei Meng,
| | - Joao Buzzatto
- New Dexterity Research Group, Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New Zealand
| | - Yuanchang Liu
- Department of Mechanical Engineering, University College London, London, United Kingdom
| | - Minas Liarokapis
- New Dexterity Research Group, Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New Zealand
- *Correspondence: Minas Liarokapis, ; Jiawei Meng,
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26
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Abstract
Recapitulating avian locomotion opens the door for simple and economical control of legged robots without sensory feedback systems.
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Affiliation(s)
- Jonas Rubenson
- Biomechanics Laboratory, Department of Kinesiology, Pennsylvania State University, University Park, PA, USA.,Integrative and Biomedical Physiology Program, Huck Institutes of the Life Sciences, Pennsylvania State University, University Park, PA, USA
| | - Gregory S Sawicki
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.,School of Biological Sciences, Georgia Institute of Technology, Atlanta, GA, USA.,Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA
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