Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots

Homchanthanakul, Jettanan; Manoonpong, Poramate

doi:10.1109/lra.2023.3234773

Cited by 7 publications

(3 citation statements)

References 23 publications

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“…Although energy-efficient, their motion forms are limited, with poor loadbearing capacity and stability. In contrast, the biomimetic millipede robot, with its typical multi-legged structure, has a much larger number of legs than hexapods, featuring redundant support legs, strong load-bearing capacity, good stability, diverse gait combinations, high fault tolerance, and greater adaptability [9][10][11][12]. Currently, research on robots with more than six legs is relatively scarce, mainly focusing on single-joint structure design and driving methods.…”

Section: Introductionmentioning

confidence: 99%

Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot

Yin,

Shi,

Liu

2024

Biomimetics

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Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs a novel multi-segment biomimetic robot based on an in-depth investigation of the millipede’s biological characteristics and locomotion mechanisms. Key leg joints of millipede locomotion are targeted, and a mathematical model of the biomimetic robot’s leg joint structure is established for kinematic analysis. Furthermore, a central pattern generator (CPG) control strategy is studied for multi-jointed biomimetic millipede robots. Inspired by the millipede’s neural system, a simplified single-loop CPG network model is constructed, reducing the number of oscillators from 48 to 16. Experimental trials are conducted using a prototype to test walking in a wave-like gait, walking with a leg removed, and walking on complex terrain. The results demonstrate that under CPG waveform input conditions, the robot can walk stably, and the impact of a leg failure on overall locomotion is acceptable, with minimal speed loss observed when walking on complex terrain. The research on the structure and motion control algorithms of multi-jointed biomimetic robots lays a technical foundation, expanding their potential applications in exploring unknown environments, rescue missions, agriculture, and other fields.

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Section: Introductionmentioning

confidence: 99%

Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot

Yin,

Shi,

Liu

2024

Biomimetics

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“…Studies have illustrated that creatures, such as insects, fish, and birds, can solve tasks that are challenging for individuals through self-organization and environmental interaction. These insights have propelled the development of aerial, aquatic, and terrestrial robotic swarm systems, capable of proficient real-world navigation and task execution, including mapping, tracking, inspection, and transportation [7][8][9][10]. While these studies provide valuable theoretical foundations for robotic technology, they frequently focus on a single type of robot and lack comprehensive adaptability to complex environments.…”

Section: Introductionmentioning

confidence: 99%

Self-Configurable Centipede-Inspired Rescue Robot

Hou,

Xue,

Liang

et al. 2024

Applied Sciences

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Drawing from the characteristics of centipedes, such as their low center of gravity, high stability in movement, adaptability to complex terrains, and ability to continue moving even after losing a limb, this paper designs a self-reconfigurable centipede-type rescue robot with relatively high stability while moving. The robot’s body can lift and traverse higher obstacles, and its multi-segmented structure enables self-disconnection and reconstruction for docking. Moreover, the proposed robot is adept at navigating diverse terrains and surmounting obstacles, equipped with a camera sensor facilitating life recognition, terrain surveying, scene understanding, and obstacle avoidance. Its capabilities prove advantageous for achieving challenging ground rescue missions. Motion stability tests, conducted across various terrains, showcase the robot’s ability to maintain a consistent movement path in rugged environments. Operating with a leg lift height of 0.02 m, the robot achieves a speed of 0.09 m per second. In simulated damaged conditions, the robot demonstrates the capacity to disconnect and reconnect its limbs swiftly, restoring movement capabilities within a single second. During environmental perception tasks, the robot processes and analyzes environmental data in real time at a rate of approximately 15 frames per second, with an 80% confidence level. With an F1 score exceeding 93% and an average precision rate surpassing 98%, the robot showcases its reliability and efficiency.

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“…Various attempts, including the use of hybrid structure systems, neural control, and embodied intelligence, have been made to mimic such impressive multimodal behaviors for robots, e.g., the turtle robot (Baines et al, 2022 ), salamander robot (Ijspeert et al, 2007 ), gecko robot (Shao et al, 2022 ), quadruped robot (Miki et al, 2022 ), millipede robot (Homchanthanakul and Manoonpong, 2023 ), and dung beetle robot (Xiong and Manoonpong, 2021 ). However, in comparison to their biological counterparts, robots still fail in terms of adaptability, flexibility, and versatility, because multimodal behaviors involve the synthesis of structure, control, planning, and optimization.…”

Section: Introductionmentioning

confidence: 99%