尾部动力学对壁虎机器人攀爬性能的影响:模拟与实验研究

IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Biomimetics Pub Date : 2024-10-14 DOI:10.3390/biomimetics9100625
Shengchang Fang, Guisong Chen, Tong Liu, Weimian Zhou, Yucheng Wang, Xiaojie Wang
{"title":"尾部动力学对壁虎机器人攀爬性能的影响:模拟与实验研究","authors":"Shengchang Fang, Guisong Chen, Tong Liu, Weimian Zhou, Yucheng Wang, Xiaojie Wang","doi":"10.3390/biomimetics9100625","DOIUrl":null,"url":null,"abstract":"<p><p>Geckos are renowned for their exceptional climbing abilities, enabled by their specialized feet with hairy toes that attach to surfaces using van der Waals forces. Inspired by these capabilities, various gecko-like robots have been developed for high-risk applications, such as search and rescue. While most research has focused on adhesion mechanisms, the gecko's tail also plays a critical role in maintaining balance and stability. In this study, we systematically explore the impact of tail dynamics on the climbing performance of gecko-inspired robots through both simulation and experimental analysis. We developed a dynamic climbing simulation system that models the robot's specialized attachment devices and predicts contact failures. Additionally, an adjustable-angle force measurement platform was constructed to validate the simulation results. Our findings reveal the significant influence of the tail on the robot's balance, stability, and maneuverability, providing insights for further optimizing climbing robot performance.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":null,"pages":null},"PeriodicalIF":3.4000,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11505542/pdf/","citationCount":"0","resultStr":"{\"title\":\"Role of Tail Dynamics on the Climbing Performance of Gecko-Inspired Robots: A Simulation and Experimental Study.\",\"authors\":\"Shengchang Fang, Guisong Chen, Tong Liu, Weimian Zhou, Yucheng Wang, Xiaojie Wang\",\"doi\":\"10.3390/biomimetics9100625\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>Geckos are renowned for their exceptional climbing abilities, enabled by their specialized feet with hairy toes that attach to surfaces using van der Waals forces. Inspired by these capabilities, various gecko-like robots have been developed for high-risk applications, such as search and rescue. While most research has focused on adhesion mechanisms, the gecko's tail also plays a critical role in maintaining balance and stability. In this study, we systematically explore the impact of tail dynamics on the climbing performance of gecko-inspired robots through both simulation and experimental analysis. We developed a dynamic climbing simulation system that models the robot's specialized attachment devices and predicts contact failures. Additionally, an adjustable-angle force measurement platform was constructed to validate the simulation results. Our findings reveal the significant influence of the tail on the robot's balance, stability, and maneuverability, providing insights for further optimizing climbing robot performance.</p>\",\"PeriodicalId\":8907,\"journal\":{\"name\":\"Biomimetics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2024-10-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11505542/pdf/\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Biomimetics\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.3390/biomimetics9100625\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Biomimetics","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3390/biomimetics9100625","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0

摘要

壁虎因其特殊的攀爬能力而闻名于世,它们的脚趾上长满了毛,可以利用范德华力附着在表面上。受这些能力的启发,人们开发了各种类似壁虎的机器人,用于搜索和救援等高风险应用。虽然大多数研究都集中在粘附机制上,但壁虎的尾巴在保持平衡和稳定方面也起着至关重要的作用。在本研究中,我们通过模拟和实验分析,系统地探讨了尾巴动力学对壁虎启发机器人攀爬性能的影响。我们开发了一个动态攀爬仿真系统,该系统可对机器人的专用附着装置进行建模,并预测接触故障。此外,我们还搭建了一个可调节角度的测力平台来验证仿真结果。我们的研究结果表明,尾部对机器人的平衡性、稳定性和机动性有重大影响,为进一步优化攀爬机器人的性能提供了启示。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Role of Tail Dynamics on the Climbing Performance of Gecko-Inspired Robots: A Simulation and Experimental Study.

Geckos are renowned for their exceptional climbing abilities, enabled by their specialized feet with hairy toes that attach to surfaces using van der Waals forces. Inspired by these capabilities, various gecko-like robots have been developed for high-risk applications, such as search and rescue. While most research has focused on adhesion mechanisms, the gecko's tail also plays a critical role in maintaining balance and stability. In this study, we systematically explore the impact of tail dynamics on the climbing performance of gecko-inspired robots through both simulation and experimental analysis. We developed a dynamic climbing simulation system that models the robot's specialized attachment devices and predicts contact failures. Additionally, an adjustable-angle force measurement platform was constructed to validate the simulation results. Our findings reveal the significant influence of the tail on the robot's balance, stability, and maneuverability, providing insights for further optimizing climbing robot performance.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Biomimetics
Biomimetics Biochemistry, Genetics and Molecular Biology-Biotechnology
CiteScore
3.50
自引率
11.10%
发文量
189
审稿时长
11 weeks
期刊最新文献
Brain-Inspired Architecture for Spiking Neural Networks. Explorative Binary Gray Wolf Optimizer with Quadratic Interpolation for Feature Selection. Path Planning of an Unmanned Aerial Vehicle Based on a Multi-Strategy Improved Pelican Optimization Algorithm. Performance Comparison of Bio-Inspired Algorithms for Optimizing an ANN-Based MPPT Forecast for PV Systems. Clinical Applications of Micro/Nanobubble Technology in Neurological Diseases.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1