A gecko-inspired robot with CPG-based neural control for locomotion and body height adaptation
A gecko-inspired robot with CPG-based neural control for locomotion and body height adaptation
复制标题
DOI：
10.1088/1748-3190/ac5a3c
复制
发表时间：
2022-05-01
影响因子：
3.4
通讯作者：
Manoonpong, Poramate
中科院分区：
文献类型：
--
作者：
Shao, Donghao;Wang, Zhouyi;Manoonpong, Poramate
今天的壁虎启发的机器人已经显示出在低质量中心的斜坡上全方位攀爬的能力。然而，这样的能力不能有效地科普颠簸的地形或具有障碍物的地形。在这项研究中，我们开发了一个壁虎启发的机器人（Nyxbot）具有适应性的身体高度，以克服这一限制。在对真实的壁虎骨骼系统和运动学分析的基础上，设计了机器人的附着机构和腿部结构，使其具有附着和可调节身体高度的能力。利用神经控制和外感受性感觉反馈实现了爬坡时的身高适应性。通过爬坡和越障实验测试了机器人的运动性能和身体适应性。壁虎机器人可以爬上30度的斜坡，并自发地越过障碍物（最大障碍物高度为身体高度的38%），并且可以在没有障碍物或颠簸的情况下爬上更陡峭的斜坡（高达60度）。利用三维测力平台对壁虎和机器人进行地面反作用力分析，结果表明，神经控制驱动的机器人运动与壁虎运动具有动态可比性。为此，本研究提供了一个基础，开发攀爬机器人与自适应颠簸/障碍物跨越斜坡上更敏捷和灵活的壁虎般的运动。
Today's gecko-inspired robots have shown the ability of omnidirectional climbing on slopes with a low centre of mass. However, such an ability cannot efficiently cope with bumpy terrains or terrains with obstacles. In this study, we developed a gecko-inspired robot (Nyxbot) with an adaptable body height to overcome this limitation. Based on an analysis of the skeletal system and kinematics of real geckos, the adhesive mechanism and leg structure design of the robot were designed to endow it with adhesion and adjustable body height capabilities. Neural control with exteroceptive sensory feedback is utilised to realise body height adaptability while climbing on a slope. The locomotion performance and body adaptability of the robot were tested by conducting slope climbing and obstacle crossing experiments. The gecko robot can climb a 30 degrees slope with spontaneous obstacle crossing (maximum obstacle height of 38% of the body height) and can climb even steeper slopes (up to 60 degrees) without an obstacle or bump. Using 3D force measuring platforms for ground reaction force analysis of geckos and the robot, we show that the motions of the developed robot driven by neural control and the motions of geckos are dynamically comparable. To this end, this study provides a basis for developing climbing robots with adaptive bump/obstacle crossing on slopes towards more agile and versatile gecko-like locomotion.