Wall-climbing performance of gecko-inspired robot with soft feet and digits enhanced by gravity compensation.

IF 3.1 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY Bioinspiration & Biomimetics Pub Date : 2024-07-03 DOI:10.1088/1748-3190/ad5899
Bingcheng Wang, Zhiyuan Weng, Haoyu Wang, Shuangjie Wang, Zhouyi Wang, Zhendong Dai, Ardian Jusufi
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Abstract

Gravitational forces can induce deviations in body posture from desired configurations in multi-legged arboreal robot locomotion with low leg stiffness, affecting the contact angle between the swing leg's end-effector and the climbing surface during the gait cycle. The relationship between desired and actual foot positions is investigated here in a leg-stiffness-enhanced model under external forces, focusing on the challenge of unreliable end-effector attachment on climbing surfaces in such robots. Inspired by the difference in ceiling attachment postures of dead and living geckos, feedforward compensation of the stance phase legs is the key to solving this problem. A feedforward gravity compensation (FGC) strategy, complemented by leg coordination, is proposed to correct gravity-influenced body posture and improve adhesion stability by reducing body inclination. The efficacy of this strategy is validated using a quadrupedal climbing robot, EF-I, as the experimental platform. Experimental validation on an inverted surface (ceiling walking) highlights the benefits of the FGC strategy, demonstrating its role in enhancing stability and ensuring reliable end-effector attachment without external assistance. In the experiment, robots without FGC only completed 3 out of 10 trials, while robots with FGC achieved a 100% success rate in the same trials. The speed was substantially greater with FGC, achieving 9.2 mm s-1in the trot gait. This underscores the proposed potential of the FGC strategy in overcoming the challenges associated with inconsistent end-effector attachment in robots with low leg stiffness, thereby facilitating stable locomotion even at an inverted body attitude.

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受壁虎启发的机器人的爬墙性能,其软脚和手指通过重力补偿得到增强。
在腿部刚度较低的多足树栖机器人运动中,重力会导致身体姿态偏离理想配置,影响步态周期中摆动腿末端执行器与攀爬表面的接触角。本文在腿部刚度增强模型中研究了外力作用下预期脚部位置与实际脚部位置之间的关系,重点关注此类机器人在攀爬表面上不可靠的末端执行器附着所带来的挑战。受到死壁虎和活壁虎天花板附着姿态差异的启发,姿态阶段腿部的前馈补偿是解决这一问题的关键。我们提出了一种前馈重力补偿(FGC)策略,辅之以腿部协调,以纠正受重力影响的身体姿态,并通过减少身体倾斜度来提高附着稳定性。以四足攀爬机器人 EF-I 为实验平台,验证了该策略的有效性。在倒立表面(天花板行走)上进行的实验验证凸显了 FGC 策略的优势,证明了它在增强稳定性和确保可靠的末端执行器附着方面的作用,而无需外部辅助。在实验中,没有使用 FGC 的机器人仅完成了 10 次试验中的 3 次,而使用 FGC 的机器人在同样的试验中达到了 100% 的成功率。使用 FGC 的机器人速度更快,在小跑步态中达到了 9.2 mm/s。这凸显了 FGC 策略在克服腿部刚度低的机器人末端执行器附着不一致所带来的挑战方面所具有的潜力,从而促进机器人即使在身体姿态倒置的情况下也能稳定运动。
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来源期刊
Bioinspiration & Biomimetics
Bioinspiration & Biomimetics 工程技术-材料科学:生物材料
CiteScore
5.90
自引率
14.70%
发文量
132
审稿时长
3 months
期刊介绍: Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.
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