Development of agricultural bionic four-legged robot: Effect of head movement adjustment on the stability of goats

Zhang, Fu; Chen, Gongfa; Li-min, Zheng; Wang, Jiajia; Chen, Zijun

doi:10.25165/j.ijabe.20191204.4287

Cited by 8 publications

(7 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The previous study by the research group found that goats had better rear hoof adhesion under the condition of uphill movement [ 15 , 16 ]. Therefore, the left rear hoof of a 3-month-old male domestic Boer goat was selected as the research object in this paper.…”

Section: Methodsmentioning

confidence: 99%

“…Some researchers have found that the hoof ends of goats’ limbs have evolved into irregular shapes that can adapt to different ground conditions, and the hoof end structure changes dynamically when interacting with the ground conditions, and they can move on complex ground conditions such as uneven or soft ground conditions [ 15 , 16 ], showing strong adhesion and passing ability, which can provide bionic inspiration for the design of bionic track shoe patterns.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Research on the Adhesive Performance of a Biomimetic Goat Hoof Track Shoe Pattern

Zhang

Chen

et al. 2022

Biomimetics

Self Cite

View full text Add to dashboard Cite

In this paper, reverse engineering technique was employed to extract the ridges of the hoof ball contour, and hoof ball tissue structure was analyzed based on the bionic prototype of goat hooves. The quantified geometric features were used to design the bionic track shoe pattern, which can enhance its adhesive performance and solve the problem that agricultural tracked vehicles in hilly and mountainous areas are prone to slip due to poor adhesive performance. The monolithic structure of the biomimetic goat hoof track shoe pattern and the ordinary one-line track pattern were arranged and combined; they included six kinds of track shoe models and the adhesive performance was compared. A discrete element system was established based on soil parameter determination to compare the maximum adhesion of different track shoe models. The bionic track shoe samples were prepared for soil bin tests to verify the reliability of the discrete element analysis results. Compared with the ordinary track shoe, the adhesion of the optimal bionic track shoe was improved by 9.1%.

show abstract

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on the Adhesive Performance of a Biomimetic Goat Hoof Track Shoe Pattern

Zhang

Chen

et al. 2022

Biomimetics

Self Cite

View full text Add to dashboard Cite

show abstract

“…Bionics design uses biological structure and functional principles to develop relevant equipment [148] , which is expected to provide an important opportunity for the development of agricultural robot technology. The joint and configuration design of six-legged agricultural robots has been carried out by Zhang [149] , Rong [150] and Zhang [151] .…”

Section: Bionic Design Technology For Agricultural Robotsmentioning

confidence: 99%

Development status and trend of agricultural robot technology

Jin¹,

Liu²,

Xu³

et al. 2021

International Journal of Agricultural and Biological Engineering

View full text Add to dashboard Cite

In the face of the contradiction between the increasing demand for agricultural products and the sharp reduction of agricultural resources and labor force, agricultural robot technology is developing explosively on the basis of decades of technical and industrial exploration. In view of the complexity and particularity of the development of agricultural robot technology, it is of great value to summarize its development characteristics and make reasonable judgments on its development trend. In this paper, the type of agricultural robot systems was first discussed. From the classification of agricultural robot systems, the development of main types of monitoring robots, non-selective and selective working robots for crop farming, livestock and poultry farming and aquaculture were introduced in detail. Then the scientific research, core technology, and commercialization of different types of agricultural robots were summarized. It is believed that navigation in complex agricultural environments, damage-free robot-crop interaction, and agronomy-robot fusion have high scientific value and significance to promote the revolutionary advances in agricultural robot technology. The characteristics of inter-discipline between agricultural robot technology and new materials, artificial intelligence, bionics, agronomy are research focus. The fast damage-free operation, autonomous navigation for complex environments, target detection for complex backgrounds, and special design for agricultural robots are considered to be the key technology of agricultural robot development, and the development path is given. Finally, robot-crop interaction simulation, big data support, and artificial intelligence are regarded as paths to realize the breakthrough of key agricultural robot technologies. The summary and prospect of this paper are of positive significance to promote the overall development of agricultural robot technology.

show abstract

“…Compared with other tetrapods, goats have smaller bodies, solid and powerful limb bones, and agile and light gait, and as well as this, they can adapt to different rugged terrain and road surface changes, showing strong movement stability [ 15 , 16 , 17 ]. In order to explore the structural characteristics of the goat spine, Van Engelen et al [ 18 ] used a structural vibration test method to study the mechanical properties of goat spine motion segments.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Kinematic Characteristics of Saanen Goat Spine under Multi-Slope

et al. 2022

Self Cite

View full text Add to dashboard Cite

In order to improve the slope movement stability and flexibility of quadruped robot, a theoretical design method of a flexible spine of a robot that was based on bionics was proposed. The kinematic characteristics of the spine were analyzed under different slopes with a Saanen goat as the research object. A Qualisys track manager (QTM) gait analysis system was used to obtain the trunk movement of goats under multiple slopes, and linear time normalization (LTN) was used to calibrate and match typical gait cycles to characterize the goat locomotion gait under slopes. Firstly, the spatial angle changes of cervical thoracic vertebrae, thoracolumbar vertebrae, and lumbar vertebrae were compared and analyzed under 0°, 5°, 10°, and 15° slopes, and it was found that the rigid and flexible coupling structure between the thoraco–lumbar vertebrae played an obvious role when moving on the slope. Moreover, with the increase in slope, the movement of the spine changed to the coupling movement of thoraco–lumbar coordination movement and a flexible swing of lumbar vertebrae. Then, the Gaussian mixture model (GMM) clustering algorithm was used to analyze the changes of the thoraco–lumbar vertebrae and lumbar vertebrae in different directions. Combined with anatomical knowledge, it was found that the motion of the thoraco–lumbar vertebrae and lumbar vertebrae in the goat was mainly manifested as a left–right swing in the coronal plane. Finally, on the basis of the analysis of the maximin and variation range of the thoraco–lumbar vertebrae and lumbar vertebrae in the coronal plane, it was found that the coupling motion of the thoraco–lumbar cooperative motion and flexible swing of the lumbar vertebrae at the slope of 10° had the most significant effect on the motion stability. SSE, R2, adjusted-R2, and RMSE were used as evaluation indexes, and the general equations of the spatial fitting curve of the goat spine were obtained by curve fitting of Matlab software. Finally, Origin software was used to obtain the optimal fitting spatial equations under eight movements of the goat spine with SSE and adjusted-R2 as indexes. The research will provide an idea for the bionic spine design with variable stiffness and multi-direction flexible bending, as well as a theoretical reference for the torso design of a bionic quadruped robot.

show abstract

Development of agricultural bionic four-legged robot: Effect of head movement adjustment on the stability of goats

Cited by 8 publications

References 17 publications

Research on the Adhesive Performance of a Biomimetic Goat Hoof Track Shoe Pattern

Research on the Adhesive Performance of a Biomimetic Goat Hoof Track Shoe Pattern

Development status and trend of agricultural robot technology

Analysis of Kinematic Characteristics of Saanen Goat Spine under Multi-Slope

Contact Info

Product

Resources

About