Structure design and traction trafficability analysis of multi-posture wheel-legs bionic walking wheels for sand terrain

Zhang, Rui; Pang, Hao; Ji, Qiaoli; Li, Guoyu; Dong, Wenchao; Wen, Lige; Li, Jianqiao

doi:10.1016/j.jterra.2020.05.001

Cited by 10 publications

(8 citation statements)

References 17 publications

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“…The method firstly locates the starting posture of long-distance runners, obtains the starting posture feature matching threshold of longdistance runners, and completes the starting posture correction of long-distance runners based on image analysis. This method has high pose correction accuracy, but the image correction process is cumbersome and time-consuming [6]. Taddei et al stated that the main methods of motion gesture recognition today are as follows: human activity recognition by analyzing images and recognition using inertial sensors.…”

Section: Literature Reviewmentioning

confidence: 99%

Intelligent Running Posture Detection Based on Artificial Intelligence Combined with Sensor

Lai

Wang

et al. 2022

Journal of Sensors

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In order to avoid injuries caused by incorrect running posture to a greater extent and reduce the impact on athletes’ performance and physical health, on the basis of artificial intelligence sensors, the author studies the accurate detection of intelligent running motion posture. Using artificial intelligence sensors, an adaptive error quaternion unscented Kalman filter (DAUKF) algorithm is designed. The attitude analysis and recognition system based on the inertial measurement unit can not only measure the motion information of human body but also obtain the motion characteristic data and movement state of the human body through the analysis of posture data. Use the error quaternion and gyroscope drift error to establish the equation of state, the measurement values of the accelerometer and magnetometer are used to establish the observation equation, and the fading memory method is introduced to adaptively adjust the observation noise covariance, so as to reduce the interference of the system itself and the environment on attitude detection. Experimental results show that the proposed method improves the attitude detection accuracy, effectively suppresses the influence of drift error and dynamic observation noise, and provides a foot attitude detection scheme suitable for long-distance running.

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Section: Literature Reviewmentioning

confidence: 99%

Intelligent Running Posture Detection Based on Artificial Intelligence Combined with Sensor

Lai

Wang

et al. 2022

Journal of Sensors

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“…The design idea involved a giant spherical robot equipped with several separate winddriven micro flying rovers that would be detached from the spherical bot, just like the seeds of a dandelion, as observed in Figure26. A wheel design inspired by an African ostrich's feet was developed based on its ability to travel on the sand, owing to its unique toe structure [96]. The wheel design could be an effective means of traveling on Mars, with its capability of reducing soil resistance.…”

Section: (C) Structuresmentioning

confidence: 99%

“…The spring-like motion of the bio-inspired structure helped reduce the impact velocity of the incoming waste. The scales embedded on the A wheel design inspired by an African ostrich's feet was developed based on its ability to travel on the sand, owing to its unique toe structure [96]. The wheel design could be an effective means of traveling on Mars, with its capability of reducing soil resistance.…”

Section: (C) Structuresmentioning

confidence: 99%

State of the Art Review about Bio-Inspired Design and Applications: An Aerospace Perspective

et al. 2021

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The field of bio-inspired design has tremendously transitioned into newer automated methods, yet there are methods being discovered which can elucidate underlying principles in design, materials, and manufacturing. Bio-inspired design aims to translate knowledge from the natural world to the current trends in industry. The recent growth in additive manufacturing (AM)methods has fueled the tremendous growth of bio-inspired products. It has enabled the production of intricate and complicated features notably used in the aerospace industry. Numerous methodologies were adopted to analyse the process of bio-inspired material selection, manufacturing methods, design, and applications. In the current review, different approaches are implemented to utilize bio-inspired designs that have revolutionized the aerospace industry, focusing on AM methods.

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“…Zhang Rui designed a bionic walking wheel with different attitudes toward the wheel-leg structure using an ostrich as the bionic object. The effects of traction efficiency and sinking degree of wheel legs with different attitudes are tested through comparative experiments, and the results show that bionic wheel legs can effectively simulate the process of ostrich walking on sand and can improve the performance of vehicles on soft ground [12,13]. Inspired by the lateral fluctuating motion of snakes, Mogeeb A. Elsheikh designed a new type of wheel by studying the serpentine curve.…”

Section: Introductionmentioning

confidence: 99%

A Bionic Walking Wheel for Enhanced Trafficability in Paddy Fields with Muddy Soil

Chen,

Xu,

Song

et al. 2024

Biomimetics

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To improve wheel trafficability in soft and muddy soils such as paddy fields, a bionic walking wheel is designed based on the structural morphology and movement mode of the feet of waders living in marshes and mudflats, similar to the muddy soil of paddy fields. The bionic walking wheel adopts the arrangement of double-row wheel legs and staggered arrays to imitate the walking posture of waders. The two legs move alternately, cooperate with each other, and improve the smoothness of movement. The cam inside the bionic walking wheel is used to control the movement mode of the feet. The flippers open before touching the ground to increase the contact area and reduce sinking, and the toes bend and grip the ground while touching the ground to increase traction. Multi-rigid-body dynamics software (Adams View 2020) is used to simulate the movement of the wheel during the wading process, and the movement coordination and interference between the wheel legs are analyzed. The simulation results show that there is no interference between the parts and that the movement smoothness is good. The interaction between the bionic walking wheel and muddy soil was analyzed via coupled EDEM–ADAMS simulation, and the simulation analysis and experiments were conducted and compared with those for a common paddy wheel. The results showed that the bionic walking wheel designed in this paper improved the drawbar pull by 113.56% compared with that of a common paddy wheel and had better anti-sinking performance. By analyzing the effect of toe grip on traction, it was found that the soil under the feet can be disturbed to provide greater traction when the toe is bent downward. This study provides a reference for improving the trafficability of walking mechanisms in soft and muddy soils, such as paddy fields.

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Structure design and traction trafficability analysis of multi-posture wheel-legs bionic walking wheels for sand terrain

Cited by 10 publications

References 17 publications

Intelligent Running Posture Detection Based on Artificial Intelligence Combined with Sensor

Intelligent Running Posture Detection Based on Artificial Intelligence Combined with Sensor

State of the Art Review about Bio-Inspired Design and Applications: An Aerospace Perspective

A Bionic Walking Wheel for Enhanced Trafficability in Paddy Fields with Muddy Soil

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