Untethered Robotic Millipede Driven by Low-Pressure Microfluidic Actuators for Multi-Terrain Exploration

Shao, Qi; Dong, Xuguang; Lin, Zhonghan; Tang, Chao; Sun, Hao; Liu, Xin-Jun; Zhao, Huichan

doi:10.1109/lra.2022.3213137

Cited by 13 publications

(4 citation statements)

References 39 publications

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“…Inspired by the biomechanics of humans, animals (dogs, horses, insects, etc. ), and even centipedes, researchers have created a diverse range of walking robots, including mono-pedal, bipedal, quadrupedal, hexapod, and octopod designs [13][14][15][16][17][18]. This biomimetic approach often utilizes pneumatic muscles, whose performance closely resembles human muscles, making them a natural choice for actuating these walking robots.…”

Section: Robotic Systemsmentioning

confidence: 99%

Mechatronic and Robotic Systems Utilizing Pneumatic Artificial Muscles as Actuators

Šitum,

Benić,

Cipek

2024

Preprint

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The article presents several innovative systems developed through student laboratory projects, including two autonomous vehicles, a four-legged walking robot, an active ankle-foot orthosis, a ball on beam balancing mechanism, a ball on plate system, and a manipulator arm—all powered by pneumatic artificial muscles (PAMs). Fluidic muscles offer significant potential in various mechatronic systems, robots, and manipulators due to their flexible, lightweight nature and compliance. Their ability to produce smooth and adaptable motions is particularly beneficial in applications requiring natural and human-like movement, such as rehabilitation and assistive devices. Although PAMs powered control systems face challenges with nonlinear phenomena, their biologically inspired design holds promise for future applications across various industries. These may include innovative applicability in industrial, automotive, and aerospace sectors, as well as use in sports, medical aids, entertainment, and animatronics. Incorporating self-made laboratory systems actuated by PAMs into control systems education offers a comprehensive learning opportunity that combines theoretical concepts with hands-on experience. This approach develops the necessary skills of future engineers, expanding their understanding of technical principles and preparing them for future challenges in engineering practice.

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Section: Robotic Systemsmentioning

confidence: 99%

Mechatronic and Robotic Systems Utilizing Pneumatic Artificial Muscles as Actuators

Šitum,

Benić,

Cipek

2024

Preprint

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“…[14] To control the applied pressure within the actuators, pneumatic control components (e.g., solenoid valves, proportional valves) are usually placed between the pressure source and the actuators. [15] However, such rigid components are bulky and expensive compared to pneumatic actuators composed of soft materials, limiting the further integration as lightweight and compliant systems. [16,17] In addition, in some extreme environments, such as underground mines, Magnetic Resonance Imaging scanners, and dusty factories, actuators with no electromagnetic components are in high demand.…”

Section: Introductionmentioning

confidence: 99%

Monolithic Soft Fibrous Valves Capable of Generating Air Pressure Cutoff, Maintaining, and Oscillation for Pneumatic Systems

Lin,

Shao,

et al. 2024

Adv Materials Technologies

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Soft pneumatic robotics are designed for safe and compliant interaction with the environment or humans. However, the pneumatic systems used for actuation and protection are still relatively bulky and rely on rigid components such as solenoid valves and pressure regulators. This study presents the design and analysis of soft fibrous valves (SFVs) with internal tiny channels and external helical structures, which could be used in soft pneumatic systems. Made from soft material, SFVs demonstrate unique capabilities in controlling pressure by partial expansion under specific pressure. Three types of SFVs are designed: 1) SFV‐C is designed to protect soft pneumatic actuators by cutting off airflow under excessive pressure; 2) SFV‐M maintains pressure in actuators when the input pressure abruptly drops, preventing potential damage to the operated object; 3) SFV‐O produces oscillating pressure output without electronic control supplied by constant pressure source. Theoretical modeling and experimental validations are conducted to investigate the performance of the SFVs under various stretching, twisting, and pressure conditions. Furthermore, fully flexible SFVs are designed to enhance their compliance and resistance to external impacts. Overall, the SFVs offer promising solutions for pressure control and protection in soft pneumatic systems, enabling safer and more effective operations in various scenarios.

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“…Quadruped robots, due to their excellent working ability in complex terrain and dangerous environments [1], have been widely used in rescue operations [2], military contexts [3], exploration missions [4], and mining activities [5], offering significant advantages such as low cost and high completion rates. However, the rapid depletion of energy reserves during locomotion remains a critical issue, resulting in short operating time.…”

Section: Introductionmentioning

confidence: 99%

Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm

Yan,

Ji,

Chang

2024

Actuators

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Energy consumption is one of the most critical factors in determining the kinematic performance of quadruped robots. However, existing research methods often encounter challenges in quickly and efficiently reducing the energy consumption associated with quadrupedal robotic locomotion. In this paper, the deep deterministic policy gradient (DDPG) algorithm was used to optimize the energy consumption of the Cyber Dog quadruped robot. Firstly, the kinematic and energy consumption models of the robot were established. Secondly, energy consumption was optimized by reinforcement learning using the DDPG algorithm. The optimized plantar trajectory was then compared with two common plantar trajectories in simulation experiments, with the same period and the number of synchronizations but varying velocities. Lastly, real experiments were conducted using a prototype machine to validate the simulation data. The analysis results show that, under the same conditions, the proposed method can reduce energy consumption by 7~9% compared with the existing optimal trajectory methods.

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Untethered Robotic Millipede Driven by Low-Pressure Microfluidic Actuators for Multi-Terrain Exploration

Cited by 13 publications

References 39 publications

Mechatronic and Robotic Systems Utilizing Pneumatic Artificial Muscles as Actuators

Mechatronic and Robotic Systems Utilizing Pneumatic Artificial Muscles as Actuators

Monolithic Soft Fibrous Valves Capable of Generating Air Pressure Cutoff, Maintaining, and Oscillation for Pneumatic Systems

Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm

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