查看更多>>摘要：Some living organisms with hierarchical structures in nature have received extensive attention in various fields.The hier-archical structure with multiple pores,a large number of solid-gas interfaces and tortuous conduction paths provide a new direction for the development of thermal insulation materials,making the living creatures under these extreme conditions become the bionic objects of scientific researchers.In this review,the research progress of bionic hierarchical structure in the field of heat insulation is highlighted.Polar bears,cocoons,penguin feathers and wool are typical examples of heat preservation hierarchy in nature to introduce their morphological characteristics.At the same time,the thermal insulation mechanism,fractal model and several preparation methods of bionic hierarchical structures are emphatically discussed.The application of hierarchical structures in various fields,especially in thermal insulation and infrared thermal stealth,is summarised.Finally,the hierarchical structure is prospected.
查看更多>>摘要：Cutting tools are known as the"productivity"of the manufacturing industry,which affects the production efficiency and quality of the workpiece,and has become the focus of research and attention in academia and industry.However,traditional cutting tools often suffer from adhesion or wear during the cutting process,which considerably reduces the cutting efficiency and service life of the tools,and makes it difficult to meet current production requirements.To solve the above problems,scholars have introduced bionics into the tool's design,applying the microscopic structure of the biological surface to the tool surface to alleviate the tool's failure.This paper mainly summarizes the research progress of bionic textured cutting tools.Firstly,categorize whether the bionic texture design is inspired by a single organism or multiple organisms.Secondly,it is discussed that the non-smooth surface of the biological surface has five characteristics:hydrophilic lubricity,wear resist-ance,drag reduction and hydrophobicity,anti-adhesion,and arrangement,and the non-smooth structure of these different characteristics are applied to the surface of the tool is designed with bionic texture.Furtherly,the cutting performance of bionic textured cutting tools is discussed.The anti-friction and wear-resisting mechanism of bionic textured cutting tools is analyzed.Finally,some pending problems and perspectives have been proposed to provide new inspirations for the design of bionic textured cutting tools.
查看更多>>摘要：Bamboo is a typical biological material widely growing in nature with excellent physical and mechanical properties.It is lightweight with high strength and toughness.The naturally optimized bamboo structure,which has inspired global material scientists and engineers for decades,is significantly important for the bionic design of novel structural materials with ultra-light,ultra-strong,or ultra-tough and comprehensive properties.Typical literature on innovative composite materials and structural members inspired by bamboo are reviewed in this paper,and the research progress and prospects in this field are expounded in three parts.First,the structural characteristics of the bamboo wall layer along the thickness and height direc-tions are described in terms of chemical composition,gradient structure,pore structure,and hollow structure with variable cross-section.Second,this paper summarizes the research progress on new composite materials and structural components by applying bamboo's structural features from the perspective of sustainability,designability,and customization.Finally,given the limitations of current research,the biomimetic scientific research on bamboo's structural characteristics is prospected from the interpretation of bamboo structure,new bamboo-like materials,and structural design optimization perspectives,providing a reference for future research on biomimetic aspects of biomass.
查看更多>>摘要：In this paper,inspired by lotus leaf surfaces,we fabricated biomimetic multi-scale micro-nano-structures by Two-Step Capil-lary Force Lithography(TS-CFL)and UV-assisted Capillary Force Lithography(UV-CFL).The experimental results indi-cated that TS-CFL was unfitted to fabricate large-area multi-scale micro-nano-structures.Conversely,UV-CFL can fabricate large-area multi-scale micro-nano-structures.We discussed the hydrophobic and anti-icing properties of the biomimetic surfaces fabricated by these two technologies.We found that small structures are significant for improving the hydropho-bic anti-icing properties of single-structured or structureless surfaces.We believe that these results can complement the experimental details of both technologies and enable the development of more interesting micro-nano-structures biomimetic surfaces by both technologies in the future.
查看更多>>摘要：Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious behav-iors.The force estimation without direct end-actuator force measurement and the optimal footsteps based on complex ana-lytical calculation are still challenging tasks for elementary and kid-size position-controlled robots.In this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturba-tions by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be maintained.The fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired steps.The fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external disturbances.To validate the presented methods,a series of experiments on a real humanoid robot are conducted.The results verify the effectiveness of the proposed balance control framework.
查看更多>>摘要：Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper pro-poses a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped robot.The method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum conservation.At the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is proposed.State switching and landing stability control are also added.Finally,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.
查看更多>>摘要：There are many theories and tools for human or robot motion simulation,but most of them require complex calculations.The LNZN model(a simplified model named by the proposers)simplifies the human model and facilitates simulation of the Ground Reaction Force(GRF)of body landing by spring damping model and ignoring joint rotation movements,which can reduce the amount of computation obviously.In this paper,the LNZN model of human running is selected as the basis and is modified to obtain the LNZN model of a robot,which expands the application of the LNZN model.According to the structure of the human foot,a foot structure is then added to the simplified model to reduce the GRF.We also applied driving forces to the new model to simulate the whole high jump motion of the robot to expand the functions of the LNZN model.The obtained GRF data were anastomotic to the actual experimental results.In addition,the effects of variables,such as the mass,hardness,and damping,of the foot on the GRF at the moment of landing were also explored.Finally,based on the guidelines obtained for the design of the robot's foot structure,we fabricated new robot's feet and installed them on the actual robot and achieved a better cushioning effect than the original foot in experiments.
查看更多>>摘要：Quadruped animals in the nature realize high energy efficiency locomotion by automatically changing their gait at different speeds.Inspired by this character,an efficient adaptive diagonal gait locomotion controller is designed for quadruped robot.A unique gait planning method is proposed in this paper.As the speed of robot varies,the gait cycle time and the proportion of stance and swing phase of each leg are adjusted to form a variety of gaits.The optimal joint torque is calculated by the controller combined with Virtual Model Control(VMC)and Whole-Body Control(WBC)to realize the desired motion.The gait and step frequency of the robot can automatically adapt to the change of speed.Several experiments are done with a quadruped robot made by our laboratory to verify that the gait can change automatically from slow-trotting to flying-trot during the period when speed is from 0 to 4 m/s.The ratio of swing phase is from less than 0.5 to more than 0.5 to realize the running motion with four feet off the ground.Experiments have shown that the controller can indeed consume less energy when robot runs at a wide range of speeds comparing to the basic controller.
查看更多>>摘要：With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assembly in space.
查看更多>>摘要：A variety of soft wall-climbing robots have been developed that can move in certain patterns.Most of these soft robots can only move on conventional surfaces and lack adaptability to complex surfaces.Improving the adaptability of soft robots on complex surfaces is still a challenging problem.To this end,we study the layered structure of the starfish tube foot and the valve flap structure in the water vascular system,and use an ultrasonic stress detector to study the stiffness distribution of the arm structure.Inspired by the motion of the starfish,we present a bionic soft wall-climbing robot,which is driven by two groups of pneumatic feet and achieves body bending through active adaptation layers.We design the structure of the foot to flex to provide driving force,and there are suction cups at the end of the foot to provide suction.The soft foot has a simple structure design,adapts to a variety of surfaces,and does not damage the surface of the substrate.Variable stiffness layers achieve stiffness changes by the principle of line blocking.The Central Pattern Generator theory is introduced to coordinately control the multiple feet of the robot.After experiments,we verify the adaptability of the soft robot to curved surfaces.The research may provide a reference for the design and development of crawling soft robots on complex surfaces.
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