A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus

Wu, Qiuxuan; Yang, Xiaochen; Wu, Yan; Zhou, Zhijun; Wang, Jian; Zhang, Botao; Luo, Yanbin; Chepinskiy, Sergey A.; Zhilenkov, Anton

doi:10.1088/1748-3190/abf6b9

Cited by 35 publications

(16 citation statements)

References 24 publications

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“…Separate neural networks generate the rhythm and create the gait pattern, especially stable in the sagittal plane without inertial sensors, a centralized posture controller or a walker in a manner similar to human walking (speed 0.850-1.289 m/s with a leg length of 0.84 m, also on 5 • slopes without additional controller actions) [190]. An underwater bipedal walking soft robot based on a coconut octopus was designed and a machine vision algorithm was used to extract motion information for analysis-such a walking robot can achieve an average speed of 6.48 cm/s [191]. The bipedal walking robot has also become a test case for the use of shape memory alloy (SMA) springs as artificial leg muscles [192].…”

Section: Achievements and Opportunitiesmentioning

confidence: 99%

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Mikołajczyk

Mikołajewska

Al-Shuka

et al. 2022

Sensors

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Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots’ propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.

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Section: Achievements and Opportunitiesmentioning

confidence: 99%

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Mikołajczyk

Mikołajewska

Al-Shuka

et al. 2022

Sensors

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“…The bipedal walking process is shown in Figure 11 . RU means lifting the right leg, RD means putting down the right leg, LU means lifting the left leg, LD means putting down the left leg, SS means single support, and DS means double support ( Wu et al, 2021 ).…”

Section: Motion Coordination and Gait Design Of A Bipedal Walking Sof...mentioning

confidence: 99%

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

Yang

et al. 2022

Front. Robot. AI

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The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus’s tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus’s tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.

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“…Interest in soft robots, specifically soft continuum arms (SCAs), comes from their potential ability to perform complex tasks in unstructured environments as well as to operate safely around humans, with applications ranging from agriculture [1][2][3] to surgery [4][5][6]. An important bioinspiration for SCAs is provided by octopus arms [7][8][9][10]. An octopus arm is hyper-flexible with nearly infinite degrees of freedom, seamlessly coordinated to generate a rich orchestra of motions such as reaching, grasping, fetching, crawling or swimming [11,12].…”

Section: Introductionmentioning

confidence: 99%

Energy-shaping control of a muscular octopus arm moving in three dimensions

et al. 2023

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Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists alike. In this article, we develop a three-dimensional model of a soft octopus arm, equipped with biomechanically realistic muscle actuation. Internal forces and couples exerted by all major muscle groups are considered. An energy-shaping control method is described to coordinate muscle activity so as to grasp and reach in three-dimensional space. Key contributions of this article are as follows: (i) modelling of major muscle groups to elicit three-dimensional movements; (ii) a mathematical formulation for muscle activations based on a stored energy function; and (iii) a computationally efficient procedure to design task-specific equilibrium configurations, obtained by solving an optimization problem in the Special Euclidean group SE ( 3 ) . Muscle controls are then iteratively computed based on the co-state variable arising from the solution of the optimization problem. The approach is numerically demonstrated in the physically accurate software environment Elastica . Results of numerical experiments mimicking observed octopus behaviours are reported.

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A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus

Cited by 35 publications

References 24 publications

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

Energy-shaping control of a muscular octopus arm moving in three dimensions

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