Timothy Sellers

Tingjun Lei

Chaomin Luo

Zhuming Bi

Gene Eu Jan

Biomimetic Intelligence and Robotics

Human autonomy teaming-based safety-aware navigation through bio-inspired and graph-based algorithms

基于人类自主团队协作的安全感知导航：生物启发与图论算法

Kaidi Zhu

Tim C. Lueth

Yilun Sun

Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure

使用串联S形脊柱结构设计FDM可打印的肌腱驱动连续体机器人

Shilong Sun

Chiyao Li

Zida Zhao

Haodong Huang

Wenfu Xu

Leveraging large language models for comprehensive locomotion control in humanoid robots design

利用大型语言模型实现人形机器人设计的全面运动控制

Qiang Li

Shuo Wang

Cong Wang

Jihong Zhu

Editorial for the special issue on bio-inspired robotic dexterity intelligence

《生物启发式机器人灵巧智能特刊》

Inspired by large and medium-sized birds, two kinds of flapping-wing flying robots with wingspans beyond 2 meters were developed. They have the appearance of a hawk and a phoenix respectively, so they are called HIT-Hawk and HIT-Phoenix. In this paper, the bionic concept, theoretical analysis, design and manufacturing are introduced in detail. Firstly, the flight principle and characteristics of large and medium-sized birds were summarized. Then, the aerodynamics was modeled based on the thin airfoil theory, and the main design basis was established. Secondly, the mechanical structures of HIT-Hawk and HIT-Phoenix were designed to ensure the lateral and longitudinal stability and have optimized flight performance. Moreover, an autonomous flight control method was proposed and realized in highly integrated on-onboard controller; it satisfies the strict restrictions on mass, size, power and shape. Finally, the prototypes were fabricated and verified through practical flight experiments. The wingspans of these two flapping wing aircrafts are 2.0 m and 2.3 m respectively, the take-off weights are 1.15 kg and 0.86 kg, and the maximum stable endurance is 65 min (with battery of 3S LiPo, 4300 mAh) and 8 min (with battery of 3S LiPo, 800 mAh). Their wind resistance can both reach level 4. Compared with the small and micro flapping-wing aerial vehicles that mimic insects or small birds, they both have strong load capacity, strong wind resistance and long endurance.

Erzhen Pan

Hui Xu

Han Yuan

Jianqing Peng

HIT-Hawk and HIT-Phoenix: Two kinds of flapping-wing flying robotic birds with wingspans beyond 2 meters

HIT-Hawk与HIT-Phoenix：两种翼展超过2米的扑翼飞行机器人鸟

Flapping-wing aircraft (FWA) operates in a flight mode that mimics natural flyers, such as birds, bats and insects. For large scale bird-inspired flapping wings aircraft, the design of airfoil parameters is crucial to improving the aerodynamic performance. In order to study the effect of camber on the aerodynamic characteristics, we developed four different airfoils with a chord length of 12 cm. The cambers of airfoils are respectively 30 mm, 25 mm, 20 mm and 15 mm. A numerical investigation into the effects of camber on aerodynamic performance is carried out through COMSOL Multiphysics software using Fluid–Structure Interaction (FSI) module. In this work, the fluid–structure module employs the Navier–Stokes equations coupled with a solid stress–strain physics module and a moving mesh module. The three-dimensional (3D) flapping wing computational models with different cambers are built. The results show that certain camber of airfoil can improve the aerodynamic characteristics of flapping wing.

Min Zhao

Yao Zou

Qiang Fu

Wei He

Effects of airfoil on aerodynamic performance of flapping wing

扑翼气动性能的翼型影响

Aiming at the problem of insufficient endurance performance of flapping wing aircraft, a stable attitude control algorithm based on energy optimization and ESO (extended state observer) is designed, which effectively reduces the energy consumption in cruise phase. Firstly, the longitudinal dynamic model of flapping wing aircraft is established, and then the uncertain part of the system and various unknown external disturbances are taken as the total disturbance. ESO module is introduced to observe and track the total disturbance in real time. Therefore, the system is transformed into a series integral system through the total disturbance feedback, and then the energy optimal control law is designed on the base of the transformed system. The numerical simulation results show that, compared with the traditional PID control method, the designed energy optimal control method reduces the average energy consumption by 35.28%.

Luo Li

Hongwei Wang

Long Cui

Attitude control of flapping wing aircraft based on energy optimization and ESO

基于能量优化与ESO的扑翼飞行器姿态控制

Aiming at the obstacle avoidance trajectory planning problem in the landing process of the micro drone, this paper proposes a swarm optimization algorithm that combines the dragonfly optimization method and the differential evolution method. The orthogonal learning mechanism is adopted to realize the adaptive switch between the two algorithms. In the process of landing route planning, the planning plane is first obtained by making the gliding plane tangent to the obstacle. In the planning plane, the projection of obstacle is transformed into multiple unreachable line segments. By designing an optimization model, the 3D landing route planning problem is transformed into a 2D obstacle avoidance route optimization problem. Taking the shortest route as the optimization objective, the penalty factor is introduced into the cost function to avoid the intersection of the landing route and obstacle. During the optimization process, through the orthogonal learning of the intermediate iterative results, the hybrid algorithm can adaptively select the next iterative algorithm, so it can give full play to the respective advantages of the two algorithms. The optimization results show that, compared with the single optimization algorithm, the hybrid optimization algorithm proposed in this paper can better solve the problem of landing route planning for micro-small UAVs.

Shaoran Liang

Bifeng Song

Dong Xue

Landing route planning method for micro drones based on hybrid optimization algorithm

基于混合优化算法的微型无人机着陆路径规划方法

In this paper, we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom in each leg and has a passive body joint between two body segments. We firstly introduce the Finite State Machine (FSM) to the undulatory gait planning method of the 2n-legged robot. Then, the undulatory gait sequence for straight line motion is achieved by undulations motion. The idea that legged locomotion is achievable by less actuation of 2n-legged robot as well as the gait planning methods are verified finally by simulations and experiments.

Yongchen Tang

Guoteng Zhang

Dingxin Ge

Chao Ren

Shugen Ma

Undulatory gait planning method of multi-legged robot with passive-spine

具有被动脊柱的多足机器人波动步态规划方法

Untethered soft miniature robots are considered to have a wide range of applications in biomedical field. However, researchers today still have not reached a consensus on its configuration design and actuation method. Here, inspired by the tentacles of a certain kind of echinodermata, we propose a soft multi-legged robot with a total weight of 0.26 g capable of multiple locomotion modes. Based on the magnetic field distribution of a square permanent magnet, we qualitatively analyze the motion mechanism of the robot. Finally, we carried out relevant experimental research. The research shows that the robot can move forward, backward, steering and cross obstacles under the control of the magnetic field, and can combine these abilities to navigate the maze.

期刊	Biomimetic Intelligence and Robotics
ISSN	2097-0242, 2667-3797