Fish＇s outstanding motion and coordination performance make it an excellent source of inspiration for scientists and engineers aiming to design and control next-generation autonomous underwater vehicles within the fr...Fish＇s outstanding motion and coordination performance make it an excellent source of inspiration for scientists and engineers aiming to design and control next-generation autonomous underwater vehicles within the framework of bionics. This paper offers a general review of the current status of bionic robotic fish, with particular emphasis on the hydrodynamic modeling and testing, kinematic modeling and control, learning and optimization, as well as motion coordination control. Among these aspects, representative studies based on ideas and concepts inspired from fish motion and coordination are discussed. At last, the major challenges and the future research directions are addressed in the context of integration of various research streams from ichthyologic, hydrodynamic, mechanical, electronic, control, and artificial intelligence. Further development of bionic robotic fish can be utilized to execute some specific missions in complex underwater environments, where operations are unsafe or impractical for divers or conventional underwater vehicles.展开更多
Crocodiles,one of the oldest and most resilient species on Earth,have demonstrated remarkable locomotor abilities both on land and in water,evolving over millennia to adapt to diverse environ-ments.In this study,we dr...Crocodiles,one of the oldest and most resilient species on Earth,have demonstrated remarkable locomotor abilities both on land and in water,evolving over millennia to adapt to diverse environ-ments.In this study,we draw inspiration from crocodiles and design a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk joints.This design is based on comprehensive analysis of the structural and motion characteristics of real crocodiles.The bionic crocodile robot has a problem of limb-torso incoordination during movement.To solve this problem,we used the D-H method for both forward and inverse kinematics analysis of the robot's legs and spine.Through a series of simulation experiments,we investigated the robot's motion stability,fault tolerance,and adaptability to environments in two motor patterns:with and without spine and tail movements.The experimental results show that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the extremities.This study not only demonstrates the potential of biomimicry in robotics but also underscores the significance of understanding how nature's designs can inform and enhance technological innovations.展开更多
Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses...Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system stagnation.However,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more difficult.The methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion coordination.The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system.This paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots.Dynamic features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint zones.The proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for experiments.Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.展开更多
This paper conducts a series of case studies on a novel Simultaneous Path and Motion Planning (SiPaMoP) approach [1] to multiple autonomous or Automated Guided Vehicle (AGV) motion coordination in bidirectional networ...This paper conducts a series of case studies on a novel Simultaneous Path and Motion Planning (SiPaMoP) approach [1] to multiple autonomous or Automated Guided Vehicle (AGV) motion coordination in bidirectional networks. The SiPaMoP approach plans collision-free paths for vehicles based on the principle of shortest path by dynamically changing the vehicles’ paths,traveling speeds or waiting times,whichever gives the shortest traveling time. It integrates path planning,collision avoidance and motion planning into a comprehensive model and optimizes the vehicles’ path and motion to minimize the completion time of a set of tasks. Five case studies,i.e.,head-on collision avoidance,catching-up collision avoidance,buffer node generation and collision avoidance,prioritybased motion coordination,and safety distance based planning,are presented. The results demonstrated that the method can effectively plan the path and motion for a team of autonomous vehicles or AGVs,and solve the problems of traffic congestion and collision under various conditions.展开更多
The motion coordination formation control problem for a class of non-linear system is considered in this paper,where networked induced time-delays exist in the feedback channel of each agent and in communication chann...The motion coordination formation control problem for a class of non-linear system is considered in this paper,where networked induced time-delays exist in the feedback channel of each agent and in communication channels between agents.As a foundation work,a coordination formation controller in discrete-time domain that without time-delay is provided firstly.Based on the above results,a motion coordination predictive formation control strategy as well as its detail implementation processes are proposed to actively compensate the time-delays.Stability analysis and simulation results are provided to demonstrate the feasibility and effectiveness of the proposed predictive strategy.展开更多
A method is presented that coordinates the calculation of the displacement, velocity and acceleration of structures within the time-steps of different types of step-by-step integration. The dynamic equation is solved ...A method is presented that coordinates the calculation of the displacement, velocity and acceleration of structures within the time-steps of different types of step-by-step integration. The dynamic equation is solved using an energy equation and the calculating data of the original method. The method presented is better than the original method in terms of calculating postulations and is in better conformity with the system's movement. Take the Wilson-θ method as an example. By using the coordination process, the calculation precision has been greatly im proved (reducing the errors by approximately 90% ), and the greater part of overshooting of the calculation result has been eliminated. The study suggests that the mal-coordination of the motion parameters within the time-step is the major factor that contributes to the result errors of step-by-step integration for the dynamic equation.展开更多
基金This work was supported by the National Natural Science Foundation of China （Nos. 61725305, 61573226, 61633004）.
文摘Fish＇s outstanding motion and coordination performance make it an excellent source of inspiration for scientists and engineers aiming to design and control next-generation autonomous underwater vehicles within the framework of bionics. This paper offers a general review of the current status of bionic robotic fish, with particular emphasis on the hydrodynamic modeling and testing, kinematic modeling and control, learning and optimization, as well as motion coordination control. Among these aspects, representative studies based on ideas and concepts inspired from fish motion and coordination are discussed. At last, the major challenges and the future research directions are addressed in the context of integration of various research streams from ichthyologic, hydrodynamic, mechanical, electronic, control, and artificial intelligence. Further development of bionic robotic fish can be utilized to execute some specific missions in complex underwater environments, where operations are unsafe or impractical for divers or conventional underwater vehicles.
基金supported by the Graduate Reaearch and Innovation Projects of Jiangsu Province(KYCX21_2251).
文摘Crocodiles,one of the oldest and most resilient species on Earth,have demonstrated remarkable locomotor abilities both on land and in water,evolving over millennia to adapt to diverse environ-ments.In this study,we draw inspiration from crocodiles and design a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk joints.This design is based on comprehensive analysis of the structural and motion characteristics of real crocodiles.The bionic crocodile robot has a problem of limb-torso incoordination during movement.To solve this problem,we used the D-H method for both forward and inverse kinematics analysis of the robot's legs and spine.Through a series of simulation experiments,we investigated the robot's motion stability,fault tolerance,and adaptability to environments in two motor patterns:with and without spine and tail movements.The experimental results show that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the extremities.This study not only demonstrates the potential of biomimicry in robotics but also underscores the significance of understanding how nature's designs can inform and enhance technological innovations.
基金Project supported by the Key Research and Development Program of Zhejiang Province,China(No.2023C01174)。
文摘Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system stagnation.However,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more difficult.The methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion coordination.The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system.This paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots.Dynamic features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint zones.The proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for experiments.Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.
文摘This paper conducts a series of case studies on a novel Simultaneous Path and Motion Planning (SiPaMoP) approach [1] to multiple autonomous or Automated Guided Vehicle (AGV) motion coordination in bidirectional networks. The SiPaMoP approach plans collision-free paths for vehicles based on the principle of shortest path by dynamically changing the vehicles’ paths,traveling speeds or waiting times,whichever gives the shortest traveling time. It integrates path planning,collision avoidance and motion planning into a comprehensive model and optimizes the vehicles’ path and motion to minimize the completion time of a set of tasks. Five case studies,i.e.,head-on collision avoidance,catching-up collision avoidance,buffer node generation and collision avoidance,prioritybased motion coordination,and safety distance based planning,are presented. The results demonstrated that the method can effectively plan the path and motion for a team of autonomous vehicles or AGVs,and solve the problems of traffic congestion and collision under various conditions.
基金supported by the Natural Science Foundation of Heilongjiang Province under Grant No.LH2019F025the Fundamental Research Fundation for Universities of Heilongjiang Province under Grant No.LGYC2018JC010。
文摘The motion coordination formation control problem for a class of non-linear system is considered in this paper,where networked induced time-delays exist in the feedback channel of each agent and in communication channels between agents.As a foundation work,a coordination formation controller in discrete-time domain that without time-delay is provided firstly.Based on the above results,a motion coordination predictive formation control strategy as well as its detail implementation processes are proposed to actively compensate the time-delays.Stability analysis and simulation results are provided to demonstrate the feasibility and effectiveness of the proposed predictive strategy.
文摘A method is presented that coordinates the calculation of the displacement, velocity and acceleration of structures within the time-steps of different types of step-by-step integration. The dynamic equation is solved using an energy equation and the calculating data of the original method. The method presented is better than the original method in terms of calculating postulations and is in better conformity with the system's movement. Take the Wilson-θ method as an example. By using the coordination process, the calculation precision has been greatly im proved (reducing the errors by approximately 90% ), and the greater part of overshooting of the calculation result has been eliminated. The study suggests that the mal-coordination of the motion parameters within the time-step is the major factor that contributes to the result errors of step-by-step integration for the dynamic equation.
