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1 – 10 of 37Xuelong Li, Lei Jiang, Xinxin Liu, Ruina Dang, Fusheng Liu, Wang Wei, Tong Zhang and Guoshun Wang
The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the…
Abstract
Purpose
The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the land–water transition zone.
Design/methodology/approach
Starting from the design idea of multimode motion, the robot innovatively integrates the guiding fin and wheel together, is driven by the same motor and can achieve multimodal motion such as land, water surface and underwater with only six actuated degrees of freedom. The robot dispenses with the transmission mechanism by directly connecting the servo motor with a reducer to the actuator, so it has the characteristics of simplifying the structure and reducing the quality. And to the best of the authors' knowledge, the design of the robot can be considered the minimal configuration of amphibious robots with the same locomotion capabilities.
Findings
Based on the classical assumptions of underwater dynamics analysis, this paper uses basic airfoil theory to analyze the dynamics of the robot’s horizontal and vertical motions and establishes its simplified dynamics model. Also, the underwater motion of the robot is simulated, and the results are in good agreement with the existing research results. Finally, to verify the feasibility of the robot, a prototype is implemented and fully evaluated by experiments. Experimental results show that the robot can reach the maximum speed of 2.5 m/s and 0.3 m/s on land and underwater, respectively, proving the effectiveness of the robot.
Originality/value
The robot has higher work efficiency with the powerful multimode motion, and its simplified structure makes it more stable while costing less.
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Yue Qiao, Wang Wei, Yunxiang Li, Shengzui Xu, Lang Wei, Xu Hao and Re Xia
The purpose of this paper is to introduce a motion control method for WFF-AmphiRobot, which can effectively realize the flexible motion of the robot on land, underwater and in the…
Abstract
Purpose
The purpose of this paper is to introduce a motion control method for WFF-AmphiRobot, which can effectively realize the flexible motion of the robot on land, underwater and in the transition zone between land and water.
Design/methodology/approach
Based on the dynamics model, the authors selected the appropriate state variables to construct the state space model of the robot and estimated the feedback state of the robot through the maximum a posteriori probability estimation. The nonlinear predictive model controller of the robot is constructed by local linearization of the model to perform closed-loop control on the overall motion of the robot. For the control problem of the terminal trajectory, using the neural rhythmic movement theory in bionics to construct a robot central pattern generator (CPG) for real-time generation of terminal trajectory.
Findings
In this paper, the motion state of WFF-AmphiRobot is estimated, and a model-based overall motion controller for the robot and an end-effector controller based on neural rhythm control are constructed. The effectiveness of the controller and motion control algorithm is verified by simulation and physical prototype motion experiments on land and underwater, and the robot can ideally complete the desired behavior.
Originality/value
The paper designed a controller for WFF-AmphiRobot. First, when constructing the robot state estimator in this paper, the robot dynamics model is introduced as the a priori estimation model, and the error compensation of the a priori model is performed by the method of maximum a posteriori probability estimation, which improves the accuracy of the state estimator. Second, for the underwater oscillation motion characteristics of the flipper, the Hopf oscillator is used as the basis, and the flipper fluctuation equation is modified and improved by the CPG signal is adapted to the flipper oscillation demand. The controller effectively controls the position error and heading angle error within the desired range during the movement of the WFF-AmphiRobot.
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Xiaolong Yang, Long Zheng, Da Lü, Jinhao Wang, Shukun Wang, Hang Su, Zhixin Wang and Luquan Ren
Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research…
Abstract
Purpose
Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research progress of snake-inspired robots according to their application environments. It classifies snake-inspired robots according to the numbers of degrees of freedom in each joint and briefly describes the modeling and control of snake-inspired robots. Finally, the application fields and future development trends of snake-inspired robots are analyzed and discussed.
Design/methodology/approach
This paper summarizes the research progress of snake-inspired robots and clarifies the requirements of snake-inspired robots for self-adaptive environments and multi-functional tasks. By equipping various sensors and tool modules, snake-inspired robots are developed from fixed-point operation in a single environment to autonomous operation in an amphibious environment. Finally, it is pointed out that snake-inspired robots will be developed in terms of rigid and flexible deformable structure, long endurance and multi-function and intelligent autonomous control.
Findings
Inspired by the modular and reconfigurable concepts of biological snakes, snake-inspired robots are well adapted to unknown and changing environments. Therefore, snake-inspired robots will be widely used in industrial, military, medical, post-disaster search and rescue applications. Snake-inspired robots have become a hot research topic in the field of bionic robots.
Originality/value
This paper summarizes the research status of snake-inspired robots, which facilitates the reader to be a comprehensive and systematic understanding of the research progress of snake-inspired robots. This helps the reader to gain inspiration from biological perspectives.
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This paper aims to provide an insight into China’s rapidly developing robot industry.
Abstract
Purpose
This paper aims to provide an insight into China’s rapidly developing robot industry.
Design/methodology/approach
Following a short introduction, this paper first provides a market perspective and then identifies the key user industries and gives examples of applications. The robot supply companies are considered and details are provided for some of the more important. The research effort is then discussed, together with some examples of recent developments. Finally, conclusions are drawn.
Findings
The Chinese robot market is the largest in the world although the robot density remains far lower than that of many other industrialised nations. Major users include the electrical and electronics sector and the automotive industry, together with growing applications in the burgeoning hospitality and logistics sectors. Markets are presently dominated by foreign companies, but the government has ambitious plans to boost domestic production, and with the aid of financial incentives, the number of Chinese robot manufactures has recently increased dramatically. The country’s robot research effort is diverse and wide ranging and benefits from significant levels of government funding. China is ultimately expected to become a major force within the global robot business.
Originality/value
This illustrates the growing importance of robots in China, both in its industries and as a robot manufacturer.
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Youcheng Zhou, Bin Zhong, Tao Fang, Jiming Liu, Xiaonong Zhou and Shiwu Zhang
This paper aims to construct a central pattern generator (CPG) network that comprises coupled nonlinear oscillators to implement diversified locomotion gaits of robot AmphiHex-I…
Abstract
Purpose
This paper aims to construct a central pattern generator (CPG) network that comprises coupled nonlinear oscillators to implement diversified locomotion gaits of robot AmphiHex-I. With the gaits, AmphiHex-I will have a strong locomotion ability in an amphibious environment, which is motivated by a novel public health application to detect the amphibious snail, Oncomelania hupensis, the snail intermediate host of Schistosoma japonicum, as an amphibious robot-based tool for schistosomiasis surveillance and response in the future.
Design/methodology/approach
First, the basis neural network was built by adopting six Hopf nonlinear oscillators which corresponded to six legs. Then, the correlation between the self-excited harmonic output signals generated from CPGs and various gaits was established. In view of requirements on its field application, the authors added a telecontrol system and an on-board battery to support the real-life remote control and a high-definition camera and a global positioning system module to acquire images and position information. Finally, the authors conducted the testing experiments on several tasks, e.g. detecting the distribution of Oncomelania hupensis snails.
Findings
The results demonstrate that the CPG is effective in controlling the robot’s diversified locomotion gaits. In addition, the robot is capable of fulfilling several testing tasks in the experiments.
Originality/value
The research provides a method based on CPG to control a hexapod robot with multiple motion patterns, which can effectively overcome the difficulty of motion control simply by changing certain mathematical parameters of a nonlinear equation, such as frequency, phase difference and offset angle, so as to realize the gait transitions. Also, using such a robot to probe the distribution of snails offers another way to tackle this laborious job, especially in some odious terrains, which will hence broaden the application of AmphiHex-I to vector surveillance in the fields of public health.
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The purpose of this paper is to provide a detailed insight into the global military robot industry with an emphasis on products and their applications.
Abstract
Purpose
The purpose of this paper is to provide a detailed insight into the global military robot industry with an emphasis on products and their applications.
Design/methodology/approach
Following an introduction which includes a brief historical account, this provides an industry overview, including various market dimensions and a discussion of the geopolitical and technological factors driving market development. The three following sections provide details of land, airborne and marine robots, their capabilities and deployments in recent conflicts. Finally, brief conclusions are drawn.
Findings
Military robots which operate on land, in the air and at sea constitute a multi-billion dollar industry which is growing rapidly. It is being driven by geopolitical tensions, notably the military-technology arms race between China and the USA and the conflict in Ukraine, together with technological progress, particularly in AI. Many robots possess multi-functional capabilities, and the leading application is presently intelligence, surveillance and reconnaissance. An increasing number of heavily armed robots are being developed, and AI has the potential to impart these with the capacity to deliver lethal force without human intervention. Although heavily criticised in some quarters, this capability has probably already been deployed on the battlefield. With ever-growing military budgets, escalating political tensions and technological innovations, robots will play an increasingly significant role in future conflicts.
Originality/value
This provides a detail account of military robots and their role in modern warfare.
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Aims to describe how Japan sees robotics for the future based on the author's observation of robots displayed at the World Expo 2005.
Abstract
Purpose
Aims to describe how Japan sees robotics for the future based on the author's observation of robots displayed at the World Expo 2005.
Design/methodology/approach
Visits with the Expo and the relevant symposium.
Findings
Japan is convinced of the immense potential of the new robotic market.
Originality/value
Gives the Japanese view on robotics for the future to observers outside Japan.
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Jiang Ding, Hanfei Su, Weihang Nong and Changyang Huang
Soft rod-climbing robots have been known to have great potential in a wide variety of working conditions, including cable inspection and pipeline maintenance. However, one of the…
Abstract
Purpose
Soft rod-climbing robots have been known to have great potential in a wide variety of working conditions, including cable inspection and pipeline maintenance. However, one of the most notable issues preventing their popular adoption is their inability to effectively cross obstacles or transfer between rods. To overcome these difficulties, this paper aims to propose an inchworm-inspired soft robot with omni-directional steering.
Design/methodology/approach
Theoretical models are first established to analyze the telescopic deformation, bending, steering and climbing ability of the soft robot. The main modes of movement the soft robot is expected to encounter is then determined through controlled testing so to verify their effectiveness (those being rod climbing, steering and obstacle surmounting).
Findings
The soft robot demonstrated a capability to cross obstacles 1.3 times its own width and bend 120° omni-directionally, evidencing outstanding abilities in both omni-directional steering and obstacle surmounting. In addition, the soft robot also exhibited acceptable climbing performance in a variety of working conditions such as climbing along vertical rods, transferring between rods with differing diameters or friction surfaces and bearing a payload.
Originality/value
The soft robot proposed in this paper possesses abilities that are both exceptional and crucial for practical use, specifically with regard to its omni-directional steering and obstacle surmounting.
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He Xu, Zhenyu Zhang, Khalil Alipour, Kai Xue and X.Z. Gao
Wheel‐terrain interaction has hardly been taken into consideration in the process of conventional mobile robot design, but its importance has been reflected increasingly towards…
Abstract
Purpose
Wheel‐terrain interaction has hardly been taken into consideration in the process of conventional mobile robot design, but its importance has been reflected increasingly towards these categories of mobile robots in rough sandy terrain or obstacle‐dense ground, as the first performance index in this situation is the trafficability of robot whose propulsion is uniquely generated by wheel‐terrain interaction. Consequently, it is valuable to find an optimized design method when the terrain and robot itself are regarded simultaneously. The purpose of this paper is to present a novel and reasonable design approach to mobile robot in sandy terrain.
Design/methodology/approach
Leading to some conflicted performance indices of robot, terramechanics describes the non‐linear characteristics in wheel‐terrain interaction mathematically, therefore, trade‐offs must be implemented to get a proper solution by multi‐objective optimization (MOO). In this paper, a five‐wheeled drive and five‐wheeled steering (5WD5WS) reconfigurable mobile robot is taken as demonstration with taxonomy of total‐symmetrical, partial‐symmetrical and asymmetrical prototypes. After function modeling, the MOO is carried out via iSIGHT‐FD using NCGA (Neighborhood Cultivation Genetic Algorithm) to minimize the mass, wheel resistance and maximize the static stability simultaneously.
Findings
After MOO, a compact and light weighted asymmetrical prototype is obtained with better trafficability, and other prototypes can produce diversified configurations to meet specific requirements. Significantly reduced masses (about 17 kg) enhance the grade‐ability when robot is in rough terrain. Performed real‐world experiments have also verified these prototypes.
Originality/value
The paper presents a new design approach for a mobile robot which focuses on both robot and terrain simultaneously with respect to conflicted factors. To unveil the insight relation of these factors, MOO is an effective tool to get a trade‐offs prototype.
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