In this paper, an adaptive locomotion control approach for a hexapod robot is proposed. Inspired from biological neuro systems, 3D two-layer artificial center pattern generator (CPG) network adopted to generate the of robot. The first layer CPG responsible generating several basic patterns and functional configuration determined through kinematics analysis. second controls limb behavior adapt environment change in specific pattern. To enable adaptability controller, reinforcement learning...

High-sensitivity flow measurement technology is a prerequisite for precise dynamic control of microfluidics. Despite the advances in structure optimization, more efficient approach to improve device sensitivity can be realized by leveraging materials with higher temperature coefficient resistance (TCR). This work presents design and simulation vanadium dioxide (VO2)-based microfluidic thermal sensor record high sensitivity. Owing phase change property, VO2 demonstrates maximum TCR −0.703...

The star‐nosed mole is recognized as a tactilely sensitive mammal due to its unique nose, which facilitates spatial detection in dark environments through touch using appendages enveloped numerous sensory receptors. This article introduces bionic soft robot inspired by the mole, combines pneumatic platform with polydimethylsiloxane–polyethylene terephthalate cylindrical tactile sensor array based on bilayer single‐electrode triboelectric nanogenerators, mimicking muscle tissue of mole's nose...

Soft robots have recently received much attention with their infinite degrees of freedoms and continuously deformable structures, which allow them to adapt well the unstructured environment. A new type soft actuator, namely, dielectric elastomer actuator (DEA) has several excellent properties such as large deformation high energy density is investigated in this study. Furthermore, a DEA-based robot designed developed. Due difficulty accurate modeling caused by nonlinear electromechanical...

Stroke is becoming a widely concerned social problem, and robot-assisted devices have made considerable contributions in the training treatment of rehabilitation. Due to compliance continuous deformation capacity, rehabilitation driven by soft actuators are attached widespread attention. Considering large output force pneumatic artificial muscle (PAM) biological musculoskeletal structure, an antagonistic PAM-driven robotic device developed. To fulfill need for control proposed device,...

The urban water supply pipeline network is an important infrastructure for the survival and development of cities, its leak problem has long lacked efficient detection methods. Existing methods mainly have limitations in micro-leakage large-scale deployment are susceptible to environmental interference. This work presents method based on flexible piezoelectric sensors. flexibility thin film sensor allows it be directly attached curved pipe walls, enabling in-situ monitoring local leakages....

The purpose of this study is to explore and assess manual material handling problems involving a vertical rope-pulling task from scaffold (VRPS). Twenty-five young male Chinese subjects were recruited participate in study. psychophysical method was used investigate the effects rope (nylon hemp), diameter (6/8″ 4/8″), object size (bucket 28 cm 36 cm), operating with without gloves on maximum acceptable weight (MAWR), rating perceived exertion (RPE) heart rate, respectively. results showed...

A system consisting of a commercial environment controller attached to personal computer programmed execute dynamic simulation model for broiler house thermal response was designed. The building updates interior from solution first order heat and moisture balances. Feedback predicted temperature is provided the controller; heating ventilation equipment assigned in affect balances hence response. An object oriented design approach utilized described. Governing equations circuit were solved...

In this paper, we propose a biomimetic approach of adaptive locomotion generation for hexapod robot. Inspired by biology, Central Pattern Generator (CPG) model is employed to generate tripod in the six-legged robot and parameters can be tuned adaptively. Both simulation studies experiments verified that proposed control scheme help improve maneuverability environmental adaptability with different various terrains.

Stretchable Sensors The cover portrays a highly stretchable liquid-state strain sensor array deployed underground for early warning of catastrophic road collapse. embedded microchannels filled with conductive Chinese ink undergo deformation in response to soil displacement, enabling in-situ monitoring by measuring strain-sensitive resistance. Thus, the severity is evaluated provide timely information geological hazard prevention. More detail can be found article 2301443 Yunqi Cao and co-workers.

Multimodal motion capability is an emerging topic in the robotics field, and this paper presents a hybrid robot system maneuvering both terrestrial aerial environments. Firstly, micro quadruped–quadrotor with onboard sensing computing developed. This incorporates high mobility of unmanned vehicles long endurance mobile robots on ground. A coordinated control scheme then exploited for adaptive terrestrial–aerial transition. In scheme, bio-inspired locomotion controller proposed to generate...

Abstract In advancing “smart city” initiatives, multi‐functional sensing devices are crucial for the structural health monitoring (SHM) of key infrastructures. This study presents a self‐sensing sealing electronic gasket (e‐gasket) featuring multi‐modal interdigitated‐electrode‐based sensors underground pipeline damage assessments, via simultaneously detected distribution information contact pressure and relative humidity (RH). Detecting performance is enhanced through functional surface...

Flexible piezoresistive pressure sensor arrays have become an attractive field of research due to their extensive use in human-machine interface, human posture monitoring, healthcare, and other scenarios. However, the inherent crosstalk issue always affects sensing performance arrays. In this study, a flexible crosstalk-free array with interdigital-electrode layout structure is demonstrated. The device mainly consists (IDE) on printed circuit (FPC) board, pressure-sensitive Velostat films,...

Soft pressure sensors play a significant role in developing "man-machine" tactile sensation soft robotics and haptic interfaces. Specifically, capacitive with micro-structured polymer matrices have been explored considerable effort because of their high sensitivity, wide linearity range, fast response time. However, the improvement sensing performance often relies on structural design dielectric layer, which requires sophisticated microfabrication facilities. This article reports simple...

Soft robots have recently attracted widespread attention due to their abilities work effectively in unstructured environments. As an actuation technology of soft robots, dielectric elastomer actuators (DEAs) exhibit many fantastic attributes such as large strain and high energy density. However, nonlinear electromechanical coupling, it is challenging model a DEA accurately, further difficult control DEA-based robot. This studies novel circular crawling The kinematics the robot explored...

In this study, a new design approach for multi terrain-abilities crawling robot is presented. With slender body and four legs, the able to perform both Serpentine quadruped locomotion. To generate locomotion, central pattern generator (CPG) inspired controller adopted. According biology studies, CPGs are set of neuronal circuits, which responsible producing rhythmic motion employed in animal The main feature proposed locomotion generation use coupled Hopf Oscillators imitate CPG nerve...

Self-powered sensors have nowadays show a growing competitiveness and flexibility compared with traditional that need additional power supply. For the design of self-powered wearable electronics sensing human gaits, it's reasonable to gain energy directly from activities, but how effectively transduce biomechanical variable low-frequency motions reflect information on activities still remains an open issue. Here, we propose motion adaptive sensor for transduction gait mainly based...