A Bio-Inspired Biped Water Running Robot Incorporating the Watt-I Planar Linkage Mechanism

Xu, Linsen; Mei, Tao; Wei, Xianming; Cao, Kai; Luo, Mingzhou

doi:10.1016/s1672-6529(13)60236-x

Cited by 24 publications

(8 citation statements)

References 8 publications

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“…Bioinspired Robots Locomoting at the Air-Water Interface A bipedal water-running robot inspired by highly specialized basilisk lizards would require high power, many degrees of freedom, and active stabilization [32][33][34][35][36][37][38], so existing waterrunning machines are mostly quadrupedal. Interfacial locomotion by geckos suggests that by harnessing semi-planing, high speeds can be attained even when the body contacts the surface.…”

Section: Undulatory Propulsive Forcesmentioning

confidence: 99%

Geckos Race Across the Water’s Surface Using Multiple Mechanisms

et al. 2018

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Section: Undulatory Propulsive Forcesmentioning

confidence: 99%

Geckos Race Across the Water’s Surface Using Multiple Mechanisms

et al. 2018

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“…The steps involved are to first study the snake's motion curve and then to apply mechanical operation principles to create snake-type motion [8]. These steps include deriving the velocities of different snake segments to perform rectilinear motion [9][10][11], using the position of the motor and leaning against the rotation of the wheel to cause the snake-shaped robot to move forward [12], and using Watt-I planar linkage mechanism to control a biped water-running robot to generate propulsion force [13]. In short, most of the above research involves designing and calculating the operation of snake-type robots by studying the operating principle and motion patterns of these robots.…”

Section: Introductionmentioning

confidence: 99%

Continual Learning for Addressing Optimization Problems with a Snake-Like Robot Controlled by a Self-Organizing Model

Chen

2020

Applied Sciences

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We have entered a new era, “Industry 4.0”, that sees the overall industry marching toward an epoch of man–machine symbiosis and intelligent production. The developers of so-called “intelligent” systems must attempt to seriously take into account all possible situations that might occur in the real world, to minimize unexpected errors. By contrast, biological systems possess comparatively better “adaptability” than man-made machines, as they possess a self-organizing learning that plays an indispensable role. The objective of this study was to apply a malleable learning system to the movement control of a snake-like robot, to investigate issues related to self-organizing dynamics. An artificial neuromolecular (ANM) system previously developed in our laboratory was used to control the movements of an eight-joint snake-like robot (called Snaky). The neuromolecular model is a multilevel neural network that abstracts biological structure–function relationships into the system’s structure, in particular into its intraneuronal structure. With this feature, the system possesses structure richness in generating a broad range of dynamics that allows it to learn how to complete the assigned tasks in a self-organizing manner. The activation and rotation angle of each motor are dependent on the firing activity of neurons that control the motor. An evolutionary learning algorithm is used to train the system to complete the assigned tasks. The key issues addressed include the self-organizing learning capability of the ANM system in a physical environment. The experimental results show that Snaky was capable of learning in a continuous manner. We also examined how the ANM system controlled the angle of each of Snaky’s joints, to complete each assigned task. The result might provide us with another dimension of information on how to design the movement of a snake-like robot.

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“…18 The robot could climb on both rough and inverted smooth surfaces. Other novel robotic mechanisms were Abigaille II, 19 the optimized multi-agent, 20,21 climbing robot, 22 legged robot on the water 23,24 and Abigaille III, 25,26 which could climb on vertical surfaces, using miniaturized motors to drive it and gecko-inspired dry adhesives to stick to various surfaces.…”

Section: Introductionmentioning

confidence: 99%

A rough concrete wall-climbing robot based on grasping claws

Fei

Shen

et al. 2016

International Journal of Advanced Robotic Systems

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Climbing robots have been widely used to inspect smooth walls. However, a good adsorption method has not been found for the inspection of a cliff surface and a dusty high-altitude surface with small vibration, both of which are made of coarse concrete, square brick, or rock. In this article, first, we analyzed the bionic structure of the cockroach legs and observed their morphological characteristics of the spiny claws on these legs. We also studied the interaction theory of the bionic claw with the bulges on the rough wall surfaces and deduced the mechanical criteria of the claws grabbing steadily these bulges. Then, an initial mechanical structure of a wall-climbing robot was proposed based on a grasping claw and a climbing model. Furthermore, a mathematical model was established to reflect the relationship between sharp hooks and bulges on the rough wall. Finally, we performed several laboratory experiments to verify the grasping stability.

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A Bio-Inspired Biped Water Running Robot Incorporating the Watt-I Planar Linkage Mechanism

Cited by 24 publications

References 8 publications

Geckos Race Across the Water’s Surface Using Multiple Mechanisms

Geckos Race Across the Water’s Surface Using Multiple Mechanisms

Continual Learning for Addressing Optimization Problems with a Snake-Like Robot Controlled by a Self-Organizing Model

A rough concrete wall-climbing robot based on grasping claws

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