Reversible shape-memory polymers (RSMPs) show great potential in actuating applications because of its repeatability among many other advantages. Indeed, cases, multiresponsive RSMPs are more expected, and the strategy to introduce functional fillers without deteriorating reversible deformation performance is importance. Here, a facile balance electro, photothermal performance, molecular chain mobility reported. Segregated conductive networks carbon nanotubes (S-CNTs) constructed...

Soft actuators with integrated mechanical and actuation properties self-sensing ability are still a challenge. Herein, stiffness variable polyolefin elastomer (POE) reversible shape memory effect is prepared by introducing typical phase change material, i.e., paraffin wax (PW). It found that the of POE induced PW can balance strain load-bearing capability actuators. Especially, carbon nanotubes (CNTs) concentrated in thin surface layer spraying hot pressing soft state POE/PW blends,...

The work output of shape memory polymers during shifting is desired for practical application as actuators. Herein, a polyolefin elastomer (POE) and paraffin wax (PW) are co-cross-linked by dynamic boronic ester bonds to enhance the network elasticity stress transfer between two phases, endowing high force storage capacity prepared vitrimers. Depending on phase PW, one-way realized programming at low temperature (25 °C), owing which solid PW can promote locking POE chains in low-entropy...

Autonomous underwater vehicles (AUVs) as an efficient exploration means have been used to perform various marine missions. However, limited by the technologies of acoustic communications and intelligent autonomy, most current advanced AUVs only a number tasks in small-scale area known environment. Therefore, this paper, one path planning model was proposed combining global local for large-scale complex More specifically, B-spline curve represent smooth requirement kinematic constraints AUVs....

Abstract Conventional manipulators with rigid structures and stiffness actuators have poor flexibility, limited obstacle avoidance capability, constrained workspace. Some developed flexible or soft in recent years the characteristics of infinite degrees freedom, high environmental adaptability, extended manipulation capability. However, these existing still cannot achieve shrinking motion independent control specified segments like animals, which hinders their applications. In this paper, a...

Reversible shape-memory polymers (RSMPs) are highly desired for soft actuators due to the repeatability of deformation. Herein, a polyolefin elastomer vitrimer (POEV) was prepared by constructing dynamic cross-linked network based on boronic ester bonds. POEV showed varied relaxation in wide temperature range hierarchical relaxation, and then entropy decreased chains facilely controlled temperature. The controllable programming enabled actuation domain with reduction skeleton relatively high...

Abstract Locusts keep their bodies moving in a straight line during the takeoff and maintain body stable whole jumping with small pitching motions, ensuring both kinematic dynamic stability to reach intended destinations. Inspired by locusts’ performance, Stephenson II six-bar mechanism is adopted mimic of model developed analyze impacts torsional spring location, stiffness, location equivalent bar centroid on performance. Furthermore, revised eight-bar proposed solve difficulty realizing...

Autonomous underwater vehicles (AUVs) have been widely implemented to explore marine resources or perform missions; meanwhile, complex mission planning has expected enhance the intelligence level, improve energy efficiency, and expand AUVs' application areas. The model needs consider consumption, quality, quantity of long-term working in environment. In this article, one unified robust was proposed based on above requirements environment automaticity AUV. However, solving is a nontrivial...

Jumping locomotion is much more effective than other means in order to tackle the unstructured and complex environment research rescue. Here, a bio-inspired jumping robot with closed-chain mechanism proposed achieve power amplification during taking-off. Through actuating one variable transmission change ratio, reveals biological characteristics phase of posture adjustment when adjusting height distance jump. The kinematics dynamics simplified model cycle sequence are analysed. A compliant...

Designing actuators that can modulate power, achieve high energy efficiency, and ensure safe collision remains a challenge, especially for dynamic robot systems (DERS) with high‐performance requirements. Herein, novel multi‐configuration elastic actuator (MCEA) is proposed based on controllable planetary differential mechanism (PDM) one power port from three springs. These springs, positioned between the inner gear ring fixed housing shell, are regulated by single servo motor through...

Locusts are a kind of agile insects that can move and maneuver so efficiently in the unstructured terrain complex environment. This marvel survivability locusts benefits from their flying jumping multi-modal locomotion. But until recently, main influences locomotion performance is still controversial unknown issue. In this paper, ideas hybrid inspired research combined biologically robot with biology was proposed adopted to explore principle locust flying-jumping we analyzed influence leg...

Abstract：Some animals can overcome obstacles that are several times of their own body sizes relying on jumping，which helps increase the ability crossing and environmental adaption.Jumping locomotion be divided into continuous jumping adopted by kangaroo other big size animals, non-continuous which is small such as frogs some insects.Miniature robots classified non-bionic bionic robots.The performance strategies controllable takeoff, in-air posture adjustment, landing buffering resetting...

In order to manipulate the non-predictable and complex environment in disaster, jumping locomotion, which many natural organisms use traverse rough terrain encounter obstacles larger than their size, is borrowed from biology explore a rescue robot. this paper, novel concept of robot with up-geared five-bar mechanism proposed achieve locomotion. mechanism, can store energy two extension springs by storage release all one jump mechanism. Meanwhile, posture adjustment change direction....

Rigid lower limb exoskeletons (LLEs) have limited flexibility while soft exosuits lack load bearing capability. To address this contradiction, inspired by ankle biotensegrity, a Bionic Ankle Tensegrity Exoskeleton (BATE) that combines rigid and structures is proposed to match the multi-degree-of-freedom (DOF) motion range of human joint. utilize self-stress equilibrium are self-supporting, enabling BATE transfer loads ground via strings provide However, modeling analyzing capabilities poses...

Autonomous underwater vehicles (AUVs) have been widely used to perform marine missions. Long-term autonomous mission planning is the challenge issue that restricts their applications large-scale complex environment. In this paper, we proposed one model, which considers various constraints, such as task attributes and environment constraints. We constructed security situation map formulated into a multi-objective optimization problem time cost, quality quantity of completed tasks. Such model...

A geared 5-bar spring/linkage mechanism used for hopping robot is investigated based on the analysis of over-obstacle performance, and able to adjust energy stored in spring hopping. The impact structure parameters performance also investigated. gait a cycle analyzed as action sequence which includes attitude adjustment phase, storage take-off flight landing pose reset phase. feasibility verified by numerical simulations force that acts considered.

Navigation with the specific objective can be defined by specifying desired timed trajectory. The concept of direction field is proposed to deal such navigation problem. To lay down a principled discussion accuracy and efficiency algorithms, strictly quantitative definitions tracking error, actuator effect, time are established. In this paper, one vision control method based on proposed. This uses discrete image sequences form state space, which especially suitable for bipedal walking robots...

A robot system would inevitably cause unpredictable collisions in an unknown or unstructured environment. In this paper, the controllability conditions of a general with compliant actuators are proposed to judge and assess contact constraints based on Port-based Hamiltonian. order satisfy conditions, one fuzzy coordinated control method inspired from pathfinding blind normal person dark environment is deal problem constraint. This achieves velocity–torque combined without using force vision...