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1 – 10 of 507Abstract
Purpose
The purpose of this paper is to explore a novel control approach for swift and accurate positioning and tracking of a mobile robot. Coordinated movement of the mobile robot-body and chameleon-inspired binocular “negative correlation” visual system (CIBNCVS) with neck has rarely been considered in conventional mobile robot design. However, it is vital in swift and accurate positioning and tracking of the target. Consequently, it is valuable to find an optimized method where the robot-body, the biomimetic eyes and neck could achieve optimal coordinated movement.
Design/methodology/approach
Based on a wheeled mobile robot, a biomimetic dual Pan–Tilt–Zoom visual system with neck is constructed. The cameras can rely on the unique “negative correlation” mode of chameleon vision, and cooperate with neck, achieving swift search of the 160° scope in front of the robot. Genetic algorithm is used to obtain optimal rotation of the neck and robot-body. Variable resolution targeting is also applied for accurate aiming. Using these two approaches, we can achieve efficient targeting with low energy consumption. Particle filter algorithm is further utilized for real-time tracking.
Findings
In the proposed approach, swift and accurate positioning and tracking of the target can be obtained. The rationality of the approach is verified by experiments on flat and sandy terrains with satisfactory results.
Originality/value
This paper proposes a novel control approach for wheeled mobile robots, which achieves coordinated movement of the robot-body and CIBNCVS with neck concerning time and energy saving in the process of swift and accurate tracking.
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Keywords
Erina Baynojir Joyee, Jida Huang, Ketki Mahadeo Lichade and Yayue Pan
The purpose of this study is to develop a novel approach to designing locally programmed multi-material distribution in a three-dimensional (3D) model, with the goal of producing…
Abstract
Purpose
The purpose of this study is to develop a novel approach to designing locally programmed multi-material distribution in a three-dimensional (3D) model, with the goal of producing a biomimetic robot that could mimic the locomotion of living organisms.
Design/methodology/approach
A voxelized representation is used to design the multi-material digital model and the material distribution in the model is optimized with the aims of mimicking the deflection dynamics of a real-life biological structure (i.e. inchworms) during its locomotion and achieving smooth deflection between adjacent regions. The design is validated post-fabrication by comparing the bending profiles of the printed robot with the deflection reference images of the real-life organism.
Findings
The proposed design framework in this study provides a foundation for multi-material multi-functional design for biomimicry and a wide range of applications in the manufacturing field and many other fields such as robotics and biomedical fields. The final optimized material design was 3D printed using a novel multi-material additive manufacturing method, magnetic field-assisted projection stereolithography. From the experimental tests, it was observed that the deflection curve and the deflection gradient of the printed robot within the adjacent regions of the body agreed well with the profiles taken from the real-life inchworm.
Originality/value
This paper presents a voxelized digital representation of the material distribution in printed parts, allowing spatially varied programming of material properties. The incorporation of reference images from living organisms into the design approach is a novel approach to transform image domain knowledge into the domain of engineering mechanical and material properties. Furthermore, the novel multi-material distribution design approach was validated through designing, 3D printing and prototyping an inchworm-inspired soft robot, which showed superior locomotion capability by mimicking the observed locomotion of the real inchworm.
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Andrew Peacock and Robert Boyce
Describes an automated robotic milking system that allows self‐milking by cows. Benefits include increased yield, improved cow welfare and reduced labour. Describes elephant‐trunk…
Abstract
Describes an automated robotic milking system that allows self‐milking by cows. Benefits include increased yield, improved cow welfare and reduced labour. Describes elephant‐trunk robotic arms and vision guidance system for teat acquisition.
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Keywords
The purpose of this paper is to describe recent research into biomimetic imaging and vision systems.
Abstract
Purpose
The purpose of this paper is to describe recent research into biomimetic imaging and vision systems.
Design/methodology/approach
Following an introduction, this paper discusses a range of biomimetic imaging and vision system research activities and their potential applications. Brief conclusions are drawn.
Findings
This shows that biomimetic design concepts, many based on insect vision, are being applied widely to prototype imaging systems. These exhibit features such as wide fields of view, hyperacuity and infra‐red detection and offer prospects to enhance the capabilities of such systems in a wide range of applications.
Originality/value
This paper provides details of recent biomimetic imaging research, which has potential in a range of robotic and other applications.
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Keywords
Abstract
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Masashi Konno, Yutaka Mizota and Taro Nakamura
This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement…
Abstract
Purpose
This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement instability because they establish a small contact area with the ground. The authors have developed a novel omnidirectional mobile robot that achieves stable movement by a large ground-contact area. The proposed robot moves by a wave-transmitting mechanism designed for this purpose.
Design/methodology/approach
To achieve stable movement, a spiral-type travelling-wave-propagation mechanism that mimics the locomotion mechanism of a snail was developed. The mechanism was applied to an omnidirectional mobile robot.
Findings
The practicality of magnetic attraction was verified in experiments of the wave-transmitting mechanism. Moreover, omnidirectional movement was confirmed in a robot prototype adopting this mechanism.
Research limitations/implications
The proposed robot will eventually be deployed in human spaces such as factories and hospitals. A mechanically improved version of the robot will be evaluated in load-driving experiments and equipped with control systems.
Originality/value
This paper proposes an omnidirectional mobile robot with a large ground contact area that moves by continuous travelling waves. The practicability of this mechanism was experimentally confirmed, and a prototype robot achieved omnidirectional movement.
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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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Steve W. Heim, Mostafa Ajallooeian, Peter Eckert, Massimo Vespignani and Auke Jan Ijspeert
The purpose of this paper is to explore the possible roles of active tails for steady-state legged locomotion, focusing on a design principle which simplifies control by…
Abstract
Purpose
The purpose of this paper is to explore the possible roles of active tails for steady-state legged locomotion, focusing on a design principle which simplifies control by decoupling different control objectives.
Design/methodology/approach
A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. These models suggest that the overall control problem can be simplified and effectively decoupled via a proper tail design. This design principle is further explored in simulation using trajectory optimization. The results are then validated in hardware using a one degree-of-freedom active tail mounted on the quadruped robot Cheetah-Cub.
Findings
The results of this paper show that an active tail can greatly improve both forward velocity and reduce body-pitch per stride while adding minimal complexity. Further, the results validate the design principle of using long, light tails compared to shorter heavier ones.
Originality/value
This paper builds on previous results, with a new focus on steady-state locomotion and in particular deals directly with stance phase dynamics. A novel design principle for tails is proposed and validated.
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