Abstract: The mobility and manipulation of bipedal humanoid robots always depend on their legs, which account for balance and may substantially accelerate energy consumption, especially when the lower body is expected to be stationary. To this end, this article presents a biomimetic and energy-efficient design for bipedal robots’ legs and extensively demonstrates its … [Read more...] about A Biomimetic and Energy-Efficient Leg Design for a Humanoid Robot: An Exclusively Linear-Actuated Implementation
Biomimetics
Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework
Disturbances caused by unknown dynamics and environmental factors render the automatic control of underwater vehicles extremely challenging. These effects are complex, time varying, and difficult to model accurately, leading to possible instability in the control process. This article focuses on the disturbance rejection problem of an underactuated bionic underwater vehicle … [Read more...] about Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework
A Small-Scale, Rat-Inspired Whisker Sensor for the Perception of a Biomimetic Robot
In this article, we present a rat-inspired whisker sensor for a biomimetic robotic rat and demonstrate its superior tactile perception performance. In particular, the design, fabrication, modeling, and experimental characterization are presented. The sensor is fabricated using silicon-on-insulator (SOI) technology. Moreover, by modeling the whisker as a Euler–Bernoulli beam … [Read more...] about A Small-Scale, Rat-Inspired Whisker Sensor for the Perception of a Biomimetic Robot
Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
This article presents a novel biomimetic force and impedance adaption framework based on the broad learning system (BLS) for robot control in stable and unstable environments. Different from iterative learning control, the adaptation process is realized by a neural network (NN)-based framework, similar to a BLS, to realize a varying learning rate for feedforward force and … [Read more...] about Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
Biomimetic Electric Sense-Based Localization
This article presents a novel localization scheme for free-swimming small underwater robots in a large-scale environment. Accurate localization technology has always been a challenge for small underwater robots since the underwater lighting conditions can limit their vision, while the multipath interference issue occurring near a wall plagues the sonars. By contrast, some kinds … [Read more...] about Biomimetic Electric Sense-Based Localization
