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Biomimetics
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Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition
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Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition

A special issue of Biomimetics (ISSN 2313-7673). This special issue belongs to the section "Locomotion and Bioinspired Robotics".

Deadline for manuscript submissions: closed (30 September 2024) | Viewed by 4784

Special Issue Editors

Prof. Dr. Xuechao Chen

E-Mail Website
Guest Editor
Beijing Institute of Technology, Beijing, China
Interests: bio-inspired robotics; legged robot locomotion; trajectory planning and control
Special Issues, Collections and Topics in MDPI journals
Dr. Gan Ma

E-Mail Website
Guest Editor
Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China
Interests: humanoid robots; motion planning; robotics; mechatronics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Biomimetic technologies have been widely used to promote the development of robot technology, in which a legged robot based on bionic characteristics plays an important role in replacing or assisting human beings to complete tasks in complex and uncertain environments. In order to improve its application capability, the legged robot has to deal with real-world challenges such as perception, manipulation, and balance control in unstructured environments.

This Special Issue on “Bio-Inspired Locomotion and Manipulation of Legged Robot” aims to showcase new research achievements, findings, and ideas in the field of bio-inspired legged robots, such as the perception of legged robots, the study of human-like manipulation, the proposal of stable and robust control methods, machine learning, and so on. To this end, we encourage the submission of papers with new advances in theoretical, experimental, and computational approaches to bionic-legged robot applications. We welcome contributions from researchers in all realms of bio-inspired locomotion and manipulation of legged robots.

Prof. Dr. Xuechao Chen
Dr. Gan Ma
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Biomimetics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2200 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • bio-inspired legged robot design
  • modeling and optimization
  • robotic manipulation
  • robot dynamics
  • motion control
  • navigation
  • machine learning
  • motion planning
  • bionic-legged robot system
  • perception and sensing

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Published Papers (4 papers)

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15 pages, 3053 KiB  
Article
Bipedal Stepping Controller Design Considering Model Uncertainty: A Data-Driven Perspective
by Chao Song, Xizhe Zang, Boyang Chen, Shuai Heng, Changle Li, Yanhe Zhu and Jie Zhao
Biomimetics 2024, 9(11), 681; https://doi.org/10.3390/biomimetics9110681 - 7 Nov 2024
Viewed by 459
Abstract
This article introduces a novel perspective on designing a stepping controller for bipedal robots. Typically, designing a state-feedback controller to stabilize a bipedal robot to a periodic orbit of step-to-step (S2S) dynamics based on a reduced-order model (ROM) can achieve stable walking. However, [...] Read more.
This article introduces a novel perspective on designing a stepping controller for bipedal robots. Typically, designing a state-feedback controller to stabilize a bipedal robot to a periodic orbit of step-to-step (S2S) dynamics based on a reduced-order model (ROM) can achieve stable walking. However, the model discrepancies between the ROM and the full-order dynamic system are often ignored. We introduce the latest results from behavioral systems theory by directly constructing a robust stepping controller using input-state data collected during flat-ground walking with a nominal controller in the simulation. The model uncertainty discrepancies are equivalently represented as bounded noise and over-approximated by bounded energy ellipsoids. We conducted extensive walking experiments in a simulation on a 22-degrees-of-freedom small humanoid robot, verifying that it demonstrates superior robustness in handling uncertain loads, various sloped terrains, and push recovery compared to the nominal S2S controller. Full article
(This article belongs to the Special Issue Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition)
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20 pages, 7943 KiB  
Article
A Motion Planner Based on Mask-D3QN of Quadruped Robot Motion for Steam Generator
by Biying Xu, Xuehe Zhang, Xuan Yu, Yue Ou, Kuan Zhang, Hegao Cai, Jie Zhao and Jizhuang Fan
Biomimetics 2024, 9(10), 592; https://doi.org/10.3390/biomimetics9100592 - 30 Sep 2024
Viewed by 733
Abstract
Crawling robots are the focus of intelligent inspection research, and the main feature of this type of robot is the flexibility of in-plane attitude adjustment. The crawling robot HIT_Spibot is a new type of steam generator heat transfer tube inspection robot with a [...] Read more.
Crawling robots are the focus of intelligent inspection research, and the main feature of this type of robot is the flexibility of in-plane attitude adjustment. The crawling robot HIT_Spibot is a new type of steam generator heat transfer tube inspection robot with a unique mobility capability different from traditional quadrupedal robots. This paper introduces a hierarchical motion planning approach for HIT_Spibot, aiming to achieve efficient and agile maneuverability. The proposed method integrates three distinct planners to handle complex motion tasks: a nonlinear optimization-based base motion planner, a TOPSIS-based base orientation planner, and a Mask-D3QN (MD3QN) algorithm-based gait motion planner. Initially, the robot’s base and foot workspace were delineated through envelope analysis, followed by trajectory computation using Larangian methods. Subsequently, the TOPSIS algorithm was employed to establish an evaluation framework conducive to foundational turning planning. Finally, the MD3QN algorithm trained foot-points to facilitate robot movement along predefined paths. Experimental results demonstrated the method’s adaptability across diverse tube structures, showcasing robust performance even in environments with random obstacles. Compared to the D3QN algorithm, MD3QN achieved a 100% success rate, enhanced average overall scores by 6.27%, reduced average stride lengths by 39.04%, and attained a stability rate of 58.02%. These results not only validate the effectiveness and practicality of the method but also showcase the significant potential of HIT_Spibot in the field of industrial inspection. Full article
(This article belongs to the Special Issue Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition)
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21 pages, 8949 KiB  
Article
Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot
by Hao Yin, Ruiqi Shi and Jiang Liu
Biomimetics 2024, 9(5), 288; https://doi.org/10.3390/biomimetics9050288 - 11 May 2024
Viewed by 1637
Abstract
Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs a novel multi-segment biomimetic robot based on an in-depth [...] Read more.
Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs a novel multi-segment biomimetic robot based on an in-depth investigation of the millipede’s biological characteristics and locomotion mechanisms. Key leg joints of millipede locomotion are targeted, and a mathematical model of the biomimetic robot’s leg joint structure is established for kinematic analysis. Furthermore, a central pattern generator (CPG) control strategy is studied for multi-jointed biomimetic millipede robots. Inspired by the millipede’s neural system, a simplified single-loop CPG network model is constructed, reducing the number of oscillators from 48 to 16. Experimental trials are conducted using a prototype to test walking in a wave-like gait, walking with a leg removed, and walking on complex terrain. The results demonstrate that under CPG waveform input conditions, the robot can walk stably, and the impact of a leg failure on overall locomotion is acceptable, with minimal speed loss observed when walking on complex terrain. The research on the structure and motion control algorithms of multi-jointed biomimetic robots lays a technical foundation, expanding their potential applications in exploring unknown environments, rescue missions, agriculture, and other fields. Full article
(This article belongs to the Special Issue Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition)
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17 pages, 3512 KiB  
Article
Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot
by Yaliang Liu, Xuechao Chen, Zhangguo Yu, Haoxiang Qi and Chuanku Yi
Biomimetics 2024, 9(5), 274; https://doi.org/10.3390/biomimetics9050274 - 2 May 2024
Viewed by 1196
Abstract
High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion trajectory for high vertical jumping motion. [...] Read more.
High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion trajectory for high vertical jumping motion. The trajectory optimization process is decomposed into two sequential optimization parts: optimization computation of centroidal dynamics and coherent whole-body kinematics. Both optimization problems converge on the common variables (the center of mass, momentum, and foot position) using cost functions while allowing for some tolerance in the consistency of the foot position. Additionally, complementarity conditions and a pre-defined contact sequence are implemented to constrain the contact force and foot position during the launching and flight phases. The whole-body trajectory, including the launching and flight phases, can be efficiently solved by a single sequential optimization, which is an efficient solution for the vertical jumping motion. Finally, the whole-body trajectory generated by the proposed optimized method is demonstrated on a real humanoid robot platform, and a vertical jumping motion of 0.5 m in height (foot lifting distance) is achieved. Full article
(This article belongs to the Special Issue Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition)
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