Article
Engineering, Mechanical
Masoumeh Safartoobi, Morteza Dardel, Hamidreza Mohammadi Daniali
Summary: This paper presents the application of an internal damping mechanism to the mathematical description of the simplest passive walking model, making walking natural and efficient. By using viscoelastic legs and precise boundary conditions, the biped starts walking from a stable condition and exhibits stable period-one gait cycles. Numerical simulations demonstrate that the overall effect of viscoelastic legs on passive walking is efficient in terms of stability and energy dissipation.
NONLINEAR DYNAMICS
(2022)
Article
Robotics
Benny Gamus, Amir D. Gat, Yizhar Or
Summary: In this study, the hybrid dynamic crawling of a three-link robot with passive frictional contacts is developed and tested, with a focus on understanding and exploiting the effects of inertia. A criterion for robustness to uncertainties in friction is proposed, leading to tuning of inputs for improved performance. Uneven mass distribution and time-scaling techniques are also studied for optimizing performance in traveling distance.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Nelson Rosa, Kevin M. Lynch
Summary: This article introduces a topological method for generating families of walking gaits for underactuated biped walkers, utilizing implicitly defined feasible periodic gaits within a state-time-control space. Equilibria are used as reliable templates for constructing gait families on several 2-D and 3-D biped walkers.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Robotics
Kim-Ngoc-Khanh Nguyen, Yuta Kojio, Shintaro Noda, Fumihito Sugai, Kunio Kojima, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
Summary: The study proposed a method to optimize joint trajectories considering time and robot orientation variables, using evolutionary search in a dynamic simulator to achieve fall recovery for biped robots. By combining fall recovery feature with fall detector and fall-damage-reduction motion, a biped robot platform was successfully developed.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Electrical & Electronic
Tzuu-Hseng S. Li, Ping-Huan Kuo, Chuan-Han Cheng, Chia-Ching Hung, Po-Chien Luan, Chien-Hsin Chang
Summary: This study proposes a real-time sequential sensor fusion based gait pattern controller for a bipedal humanoid robot, utilizing LSTM to build a feedback system for correcting walking parameters. The methodology is tested in simulation and on a real robot, demonstrating improved performance and self-adjustment capability.
IEEE SENSORS JOURNAL
(2021)
Article
Engineering, Mechanical
Guanfeng Zhou, Xianfei Hui, Jiarui Chen, Guirong Jiang
Summary: This paper investigates a two-DoF semi-passive compass-like biped model with nonlinear impulse thrust. The existence and stability conditions for period gaits of the linearized system are obtained. The conditions for flip bifurcation of periodic gait are derived and bifurcation control is rigorously studied. The results show the importance of impulse thrust and the angle between two legs at the impact in modifying the stability of the biped model and causing chaos through flip bifurcation. Bifurcation control can be used to improve the stability of the model.
NONLINEAR DYNAMICS
(2023)
Article
Engineering, Mechanical
Masoumeh Safartoobi, Morteza Dardel, Hamidreza Mohammadi Daniali
Summary: This paper investigates a passive walking robot model with flexible legs, utilizes numerical techniques to find suitable initial conditions for gait cycles, and demonstrates that elastic legs result in non-periodic motion patterns for small slope angles.
MECHANISM AND MACHINE THEORY
(2021)
Article
Mathematics, Interdisciplinary Applications
Essia Added, Hassene Gritli, Safya Belghith
Summary: This work investigates and controls the passive dynamic walking of the compass-type bipedal walker through two control methods based on tracking a desired trajectory, with an optimization method to design trajectory parameters and stabilize chaotic passive gait. Simulation results demonstrate the effectiveness of these control methods in managing chaotic passive gait, showcasing the capability to stabilize bipedal locomotion on different slopes. Additionally, a comparison with the OGY-based control method highlights the superiority of the proposed approaches.
Article
Computer Science, Information Systems
Fahad Raza, Wei Zhu, Mitsuhiro Hayashibe
Summary: The self-balancing wheel-legged robot has higher maneuverability and mobility, attracting interest from academia and the commercial sector. This paper focuses on using active arm control to improve the balance stability and robustness of the robot, providing important insights for future applications in real-world environments with human-robot interactions.
Article
Multidisciplinary Sciences
Johanna T. Schultz, David Labonte, Christofer J. Clemente
Summary: Many climbing animals use direction-dependent adhesives to attach to vertical or inclined surfaces. Researchers found that specialized climbers like geckos adjust their limb and toe movements to overcome the challenge of changing climbing directions. These multilevel dynamic adjustments could potentially inspire the development of efficient legged climbing robots.
JOURNAL OF THE ROYAL SOCIETY INTERFACE
(2023)
Article
Robotics
Guangrong Chen, Ningze Wei, HuaFeng Lu, Lei Yan, Jin Li
Summary: To improve the locomotion performance of legged robots, the swing leg retraction (SLR) technique in a hydraulic biped robot is investigated. The influence of SLR on the robot's locomotion performance is analyzed through theory, simulations, and experiments, considering energy loss/efficiency, friction/slipping, and impact/compliance. The results show that the SLR technique reduces impact force, improves locomotion stability, and allows for compliance controller improvement. This research provides valuable insights for locomotion control of hydraulic legged robots.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Biotechnology & Applied Microbiology
Jiayu Ding, Talia Y. Moore, Zhenyu Gan
Summary: Researchers developed a simulated jerboa model to investigate the mechanisms of gait transitions in non-cursorial animals. Results showed that coupled changes and uncoupled models of the neutral leg swing angle are the two primary mechanisms that influence gait transitions.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Engineering, Electrical & Electronic
Chongben Tao, Jie Xue, Zufeng Zhang, Zhen Gao
Summary: This paper presents a parallel Deep Deterministic Policy Gradient (DDPG) algorithm for biped robot gait control. The algorithm utilizes multiple Actor-Critic (AC) networks to expand exploration and improve training efficiency. Additionally, it introduces an experience filtering unit and a Markov Decision Process (MDP) model to address the issue of sparse rewards.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2022)
Article
Automation & Control Systems
Jiawei Chen, Kun Xu, Ripeng Qin, Xilun Ding
Summary: A new quadruped robot with passive wheels is designed for roller-skating and walking, utilizing a double parallel four-bar linkage for configuration switching. A dynamics controller based on the center of inertia on SE(3) is developed to achieve roller-skating and walking, alongside a new method of internal force distribution and a floating coordinate system. Experimental results show that the proposed controller successfully enables roller-skating, walking, and configuration switching for the quadrupedal robot.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Mechanical
Yue Zhao, Feng Gao, Qiao Sun, Yunpeng Yin
Summary: This paper presents a terrain classification and adaptive locomotion method for a hexapod robot, which utilizes force-based terrain classification by collecting joint torques and IMU information, and proposes dynamic alternating tripod trotting gait for adaptive locomotion on different ground properties. The method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam, providing valuable reference for other legged robots in outdoor environments.
FRONTIERS OF MECHANICAL ENGINEERING
(2021)
Review
Chemistry, Multidisciplinary
Ellen Roels, Seppe Terryn, Fumiya Iida, Anton W. Bosman, Sophie Norvez, Frank Clemens, Guy Van Assche, Bram Vanderborght, Joost Brancart
Summary: Self-healing soft robots can recover completely from damage and have an extended lifetime, with various techniques used to shape complex structures. Reversible covalent and chemical cross-links provide healing abilities to soft robotic components, addressing current obstacles in soft robotics.
ADVANCED MATERIALS
(2022)
Article
Multidisciplinary Sciences
Cameron A. Aubin, Benjamin Gorissen, Edoardo Milana, Philip R. Buskohl, Nathan Lazarus, Geoffrey A. Slipher, Christoph Keplinger, Josh Bongard, Fumiya Iida, Jennifer A. Lewis, Robert F. Shepherd
Summary: This article explores how system integration and multifunctionality in nature inspire a new paradigm for autonomous robots called Embodied Energy. By integrating energy directly into the structures and materials of robots, without the need for separate batteries, more efficient energy utilization can be achieved. It also introduces emerging applications of embodied energy in the development of autonomous robots.
Article
Robotics
Thomas George Thuruthel, Paul Gardner, Fumiya Iida
Summary: Embedded soft sensors have a significant impact on the design and control of soft-bodied robots. However, their application in real-world tasks is limited. This article proposes a learning-based approach using recurrent neural networks for closed-loop force control. Simulation and experimental studies demonstrate the capabilities and generalizability of this control architecture.
Article
Robotics
Kieran Gilday, Josie Hughes, Fumiya Iida
Summary: This article introduces the role and influence of passive behaviors in robotic hands, presents a framework for understanding passivity in robot hands, and reviews how modern robot hands utilize these elements to promote functionality. The framework provides a conceptual framework for hand design and analysis, and highlights the associated challenges.
Article
Robotics
Leone Costi, Arturo Tagliabue, Perla Maiolino, Frank Clemens, Fumiya Iida
Summary: The mechanical properties of a sensor have a strong impact on its tactile sensing capabilities. This study proposes an online stiffening adaptation approach to improve the classification accuracy of the sensor.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Shiv A. A. Katiyar, Loong Yi Lee, Fumiya Iida, Surya G. G. Nurzaman
Summary: This study aims to exploit the tight coupling between a robot's adaptive morphology, control, and behavior to harvest energy and increase efficiency. The hypothesis is that changing the robot's shape will affect energy use and behavior efficiency, thus energy harvesting needs to adapt to the robot's morphology. The researchers developed a shape-changing robot with an elastic structure and characterized its complex dynamics through resonance frequencies. The results show that harvesting energy at opportune occasions is more important than maximizing harvest capacity, and energy harvesting can increase the magnitude of the robot's behavior.
Review
Engineering, Biomedical
Liang He, Perla Maiolino, Florence Leong, Thilina Dulantha Lalitharatne, Simon de Lusignan, Mazdak Ghajari, Fumiya Iida, Thrishantha Nanayakkara
Summary: Tissue examination by hand is essential in clinical practice, requiring skills in sensorimotor coordination and feedback from multiple senses. This paper reviews the state-of-the-art medical simulators that provide multimodal feedback for training in various manual examination techniques. It also discusses opportunities for future design improvements in simulators.
IEEE REVIEWS IN BIOMEDICAL ENGINEERING
(2023)
Article
Automation & Control Systems
Cecilia Laschi, Thomas George Thuruthel, Fumiya Lida, Rochdi Merzouki, Egidio Falotico
IEEE CONTROL SYSTEMS MAGAZINE
(2023)
Article
Engineering, Multidisciplinary
Huijiang Wang, Tetsushi Nonaka, Arsen Abdulali, Fumiya Iida
Summary: This study investigates the coordination of upper-limb motor movements in piano playing using a computational neuro-musculoskeletal model. It provides insights into the neurophysiological basis of motor coordination and its relation to expressive features.
BIOINSPIRATION & BIOMIMETICS
(2023)
Article
Robotics
Elijah Almanzor, Fan Ye, Jialei Shi, Thomas George Thuruthel, Helge A. Wurdemann, Fumiya Iida
Summary: This study presents a novel image-based deep learning approach for closed-loop kinematic shape control of soft continuum robots. The method combines a local inverse kinematics formulation in the image space with deep convolutional neural networks for accurate and robust shape control. It offers an intuitive and user-friendly way to control the robot's 3-D shape and configuration through teleoperation using only 2-D hand-drawn images.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Automation & Control Systems
Huijiang Wang, Seppe Terryn, Zhanwei Wang, Guy Van Assche, Fumiya Iida, Bram Vanderborght
Summary: Flexible, soft materials are increasingly used for the fabrication of soft robots, as the inherent compliance and shock-absorbance protect the robot from mechanical impact. Soft universal grippers take full advantage of this adaptability, facilitating effective and safe grasping of various objects. However, due to their predominantly soft material composition, these grippers have limited lifetimes, especially when operating in unstructured and unfamiliar environments. The self-healing universal gripper (SHUG) is proposed, which can grasp various objects and recover from substantial realistic damages autonomously.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Automation & Control Systems
Sojiro Sugiura, David Hardman, Thomas George Thuruthel, Yasuhisa Hasegawa, Fumiya Iida
Summary: Soft sensing technologies provide a novel alternative for state estimation by capturing intrinsic state parameters in a conformable manner. However, accurate modeling is difficult due to the nonlinearities in soft sensor materials, resulting in user defined or trial and error based design. The installation of these sensors exacerbates these issues.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Computer Science, Information Systems
Grzegorz Sochacki, Arsen Abdulali, Narges Khadem Hosseini, Fumiya Iida
Summary: In this paper, an algorithm is proposed that incrementally adds recipes to a robot's cookbook based on visual observation of a human chef. The algorithm successfully recognizes known recipes and learns new recipes using off-the-shelf neural networks for computer vision. This research demonstrates the potential of using publicly available data sources like YouTube for programming robotic chefs.
Article
Engineering, Biomedical
Leone Costi, Josephine Hughes, John Biggins, Fumiya Iida
Summary: This paper presents a soft peristaltic pump that utilizes ballooning to achieve pumping motion. By controlling the air pressure, high volumetric flow rates can be achieved with a single control signal. Experimental and simulation results demonstrate the feasibility of this approach.
IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS
(2022)
Article
Automation & Control Systems
Seppe Terryn, David Hardman, Thomas George Thuruthel, Ellen Roels, Fatemeh Sahraeeazartamar, Fumiya Iida
Summary: This study investigates the adaptation strategies of a soft electronic skin to preserve its sensitivity after multiple damages by combining material-level healing with software-level adaptation. Machine learning and health monitoring are used to localize damages and achieve partial recovery, enhancing the system's robustness.
ADVANCED INTELLIGENT SYSTEMS
(2022)