Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious usually utilize multi-locomotion systems with transmission mechanisms, leading to complex bulky structures. Here, a miniature robot based on vibration-driven locomotion mechanism is developed. The has two unique rigid-flexible hybrid modules (RFH-modules), which soft foot flexible fin are arranged rigid leg conduct vibrations...

A variable magnification ratio transmission structure powered by the electric actuators is proposed to improve flexibility and portability of exoskeleton under heavy load carrying condition. The parameters connecting rod size hanging position are optimized ensure that output torque active joints can fully envelope demand area. control strategy based on intrinsic sensing designed realize automatic human motion intention prediction flexible trajectory tracking. newly developed split embedded...

The highly agile and efficient water-surface locomotion of the water strider has stimulated substantial interest in biomimetic research. In this paper, we propose a new miniature surface tension-driven robot inspired by strider. A key feature is that its actuating leg possesses an ellipse-like spatial trajectory similar to using cam-link mechanism. Simplified models are presented discuss leg-water interactions as well critical conditions for penetrating surface, simulations performed on...

The highly efficient and agile water-surface locomotion of water striders has attracted substantial research attention. Compared with imitating the horizontal rowing motion, jumping capability is much more challenging because strong interaction in process easily causes robot to sink. This study focuses on designing a miniature capable continuously surface. A spring-based actuating mechanism proposed produce large force. center gravity carefully designed allow jump surface smoothly....

Abstract Aim To evaluate the effect of bone morphogenetic protein 2 (BMP‐2) incorporated biomimetic calcium phosphate (BMP‐2/BioCaP) in conjunction with barrier membrane on periodontal regeneration chronic periodontitis experimental model. Material and Methods Chronic model critical‐sized supra‐alveolar defects was created 15 dogs’ mandibles. After initial therapy, were randomly assigned to following groups: (a) control; (b) membrane; (c) deproteinized bovine mineral + (d) BioCaP (e)...

Hemiplegia, apoplexia, or traffic accidents often lead to unilateral lower limb movement disorders. Traditional rehabilitation equipments usually execute walk training based on fixed gait trajectory; however, this type is unsuitable for disorders because they still have athletic ability and initiative walking intention the healthy side. This article describes a wearable exoskeleton with walk-assisting platform safety anti-gravity support. The detects tracks motion of leg, which then used as...

This paper introduces novel modern equipment-a lower extremity exoskeleton, which can implement the mutual complement and interaction between human intelligence robot's mechanical strength.In order to provide a reference for exoskeleton structure drive unit, biomechanics were modeled analyzed by LifeModeler Adams software derive each joint kinematic parameter.The control was designed zero-force exoskeleton.Furthermore, simulations performed verify assist effect.In conclusion, system scheme...

The agile and efficient locomotion of water striders on surface is attributed to the repellency ability their slender legs. legs are usually treated as rigid beams, neglecting effect flexible deformation its movement. Several studies proved that stable floating closely related This paper focuses exploring driven mechanism between insect applied them design a robot. spatial force models driving established analyzed based Euler-Bernoulli's beam theory. influence flexural rigidity depth leg...

The polar regions have typical representative characteristics of the Earth's environmental background, and conducting scientific exploration here is great significance. Although a large number robots been designed applied, efficient pollution-free mobile operations still face challenges. A robot that achieves efficient, stable, movement in snowy environments through sails snowboards proposed this article. It can use snowboard to achieve carve slip steering plow braking enhance...

Pneumatic muscles with similar characteristics to biological have been widely used in robots, and thus are promising drivers for frog inspired robots. However, the application nonlinearity of pneumatic system limit advance. On basis swimming mechanism frog, a frog-inspired robot based on is developed. To realize independent tasks by robot, internal chambers, micro air pump, valves implemented. The pump maintain pressure difference between source exhaust chambers. controlled high-speed switch...

The Stewart platform is a typical parallel manipulator. It used as space docking mechanism whose requirement for movement scope determinate. This article addresses the dimension synthesis of mechanism. First, this compares common indexes to evaluate performance These can mainly be divided into two types. evaluation based on Jacobian matrix, including singular value index, manipulability and condition are derived from matrix manipulator, transmissibility indexes, such pressure angle,...

Aiming at solving a series of prominent problems in grinding industry, this paper proposes hybrid passive/active force control scheme for tap with industrial robot. Firstly, we design an abrasive belt grinder dynamic position adjustment as passive device and use 6-axis force/torque sensor active device. Nextly, the strategy is established impedance controller, including compensation tool's gravity. Then, plan robotic path carry out simulation V-REP. Finally, planning parameters are used...

In manufacturing, traditional task pre-programming methods limit the efficiency of human–robot skill transfer. This paper proposes a novel task-learning strategy, enabling robots to learn skills from human demonstrations flexibly and generalize under new situations. Specifically, we establish markerless vision capture system acquire continuous hand movements develop threshold-based heuristic segmentation algorithm segment complete into different movement primitives (MPs) which encode with...

Spent automobile catalyst is an important secondary resource of PGMs but the present recycling technologies require high energy-consumption. It much to enrich with some energy saving physical separation methods. This usually composed cordierite lattice which covered by bearing coat layer. We adopted heating-quenching process as a pre-treatment subsequent selective grinding and compositional concentration. was found that micro-cracks were generated in layer interface two phases part detached...

The tunable mechanical properties and deformation behavior in crystalline/amorphous nanolaminates are revealed to be through cooperation between dislocations shear transformation zones.

Spent automobile catalyst is an important secondary resource of PGMs (platinum group metals), and the recovery fairly significant. Various technologies have been reported applied in practical production, including pyro- hydrometallurgical processes. Because grade catalysts quite low, approximately 0.5 mass%, present recycling involve high energy consumption. Enriching with energy-saving physical separation methods as a pre-treatment therefore great significance.Automobile usually composed...

Pose determination in close proximity is critical for space missions which monocular vision one of the most promising solutions. Although numerous approaches such as using artificial beacons or specific shapes on spacecrafts have proved to be effective, high individuation and large time delay limit their use low impact docking. This paper proposes a unified framework determinate relative pose between two docking mechanisms by treating guide petals measurement objects. Fusing information...

A modified genetic algorithm for global path planning of searching robot in mine disasters is proposed this paper. The grid model built based on the GIS (Geographic Information System) which can be obtained from advance. Using position information feedback Ant Colony Optimization and priority grouping, we present a new efficient method to generate initial population. Four traditional operators fitness function are designed find optimum planning. To avoid premature, make some changes mutation...

The behavior of vacuum arc influences the heat distribution on contacts and contact melt erosion, thus, it greatly affects breaking capacity after current zero. In this paper, high-current instability modes were investigated in a demountable chamber with high-speed charge-coupled device video camera. Three kinds spiral used CuCr50 as material. We observed summarized three types modes: 1) multicolumn mode; 2) single stationary jet 3) moving mode. As peak increases, mode will transition from...

Abstract The frog-inspired robots with amphibious locomotion ability have greatest application prospects and practical value in the fields of resource exploration environmental reconnaissance. Although been interest over many years, research on is still its infancy. Since mechanism basis for robots, methods single motion frogs are firstly inductive analyzed, a reference scheme proposed to inspire mechanism. Then, we collect introduce systematic discussion status according mode....