Efficient autonomous navigation for terrestrial insect-machine hybrid systems

Nguyen, Huu Duoc; Dung, Van Than; Sato, Hirotaka; Doan, Tat Thang Vo

doi:10.1016/j.snb.2022.132988

Cited by 20 publications

(9 citation statements)

References 49 publications

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“…Later, they used a 3.7 V, 10 mAh Li-Po micro-battery to power the backpack [ 17 , 52 ], reducing the total mass of the backpack to 1.2 g, which is lower than the payload capacity of the beetles [ 53 ]. Recent studies have also used a rechargeable LiTiO 2 battery to power the control backpack of the beetle–machine hybrid robot, which weighs just 200 mg [ 54 , 55 ].…”

Section: Chemical Batteriesmentioning

confidence: 99%

A Review of Energy Supply for Biomachine Hybrid Robots

Ma,

Zhao,

et al. 2023

Cyborg Bionic Syst

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Biomachine hybrid robots have been proposed for important scenarios, such as wilderness rescue, ecological monitoring, and hazardous area surveying. The energy supply unit used to power the control backpack carried by these robots determines their future development and practical application. Current energy supply devices for control backpacks are mainly chemical batteries. To achieve self-powered devices, researchers have developed solar energy, bioenergy, biothermal energy, and biovibration energy harvesters. This review provides an overview of research in the development of chemical batteries and self-powered devices for biomachine hybrid robots. Various batteries for different biocarriers and the entry points for the design of self-powered devices are outlined in detail. Finally, an overview of the future challenges and possible directions for the development of energy supply devices used to biomachine hybrid robots is provided.

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Section: Chemical Batteriesmentioning

confidence: 99%

A Review of Energy Supply for Biomachine Hybrid Robots

Ma,

Zhao,

et al. 2023

Cyborg Bionic Syst

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“…Most lunar impact craters are circular or elliptical in shape, and the larger the diameter, the deeper the crater is. The interior of the craters usually has complex terrain features [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Structure and Gait Design of a Lunar Exploration Hexapod Robot Based on Central Pattern Generator Model

Shu,

Guo,

Luo

et al. 2024

Actuators

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To address the challenges of sinking, imbalance, and complex control systems faced by hexapod robots walking on lunar soil, this study develops an umbrella-shaped foot lunar exploration hexapod robot. The overall structure of the robot is designed to mimic the body structure of insects. By incorporating a four-bar linkage mechanism to replace the commonly used naked joints in traditional hexapod robots, the robot reduces the number of degrees of freedom and simplifies control complexity. Additionally, an extension mechanism is added to the robot’s foot, unfolding into an umbrella shape to provide a larger support area, effectively addressing the issue of foot sinking instability during walking. This study adopts and simplifies the Central Pattern Generator (CPG) model to generate stable periodic control signals for the robot’s legs. Precise control of the extension mechanism’s unfolding period is achieved through mapping functions. A joint simulation platform using Solid Works and Matlab is established to analyze the stability of the robot’s walking. Finally, walking experiments are conducted on the prototype, confirming the smooth walking of the lunar exploration hexapod robot. The results indicate that the designed lunar exploration hexapod robot has a reasonable structure, excellent stability in motion, and the CPG control scheme is feasible.

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“…The insects are also targeted as application platforms for latest advancements in fabrication technology such as miniature camera implementation on living insect. [38] However, all recent studies of hybrid robots demonstrated operations of insect in an obstacle-free environment [39,40] or manually avoiding obstacle by navigating in a preplanned path, [41][42][43] despite having a natural obstacle negotiation ability that is beneficial for search-and-rescue missions. An onboard human-detection algorithm for such a system has not been thoroughly studied as well.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Insect–Computer Hybrid Robot: Installing Innate Obstacle Negotiation and Onboard Human Detection onto Cyborg Insect

Tran-Ngoc

Chong

et al. 2023

Advanced Intelligent Systems

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Developing small mobile robots for Urban Search and Rescue (USAR) is a major challenge due to constraints in size and power required to perform vital functions such as obstacle navigation, victim detection, and wireless communication. Drawing upon the idea that insects’ locomotion can be controlled, what if we further utilize the insects’ intrinsic ability to avoid obstacles? Herein, a cockroach hybrid robot (≈ 1.5 cm height, 5.7 cm length) that implements the abovementioned functions is developed. It is tested in an arena with randomly placed obstacles, and a motion capture system is used to track the insect's position among the untracked obstacles. A navigation algorithm that uses an inertial measurement unit (IMU) is developed to heuristically predict the insect's situation and stimulate the insect to escape nearby obstacles. The utilization of insect's intrinsic locomotor ability and low‐powered IMU reduces the onboard power load, allowing the addition of a human‐detecting function. An image classification model enables the use of an onboard low‐resolution infrared camera for human detection. Consequently, a single hybrid robot is established that includes locomotion control, autonomous navigation in obstructed areas, onboard human detection, and wireless communication, representing a significant step toward real USAR application.

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Efficient autonomous navigation for terrestrial insect-machine hybrid systems

Cited by 20 publications

References 49 publications

A Review of Energy Supply for Biomachine Hybrid Robots

A Review of Energy Supply for Biomachine Hybrid Robots

Structure and Gait Design of a Lunar Exploration Hexapod Robot Based on Central Pattern Generator Model

Intelligent Insect–Computer Hybrid Robot: Installing Innate Obstacle Negotiation and Onboard Human Detection onto Cyborg Insect

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