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Biomimetics
Special Issues
Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition
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Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition

A special issue of Biomimetics (ISSN 2313-7673). This special issue belongs to the section "Locomotion and Bioinspired Robotics".

Deadline for manuscript submissions: 30 September 2024 | Viewed by 1052

Special Issue Editors

Prof. Dr. Xuechao Chen

E-Mail Website
Guest Editor
Beijing Institute of Technology, Beijing, China
Interests: bio-inspired robotics; legged robot locomotion; trajectory planning and control
Special Issues, Collections and Topics in MDPI journals
Dr. Gan Ma

E-Mail Website
Guest Editor
Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China
Interests: humanoid robots; motion planning; robotics; mechatronics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Biomimetic technologies have been widely used to promote the development of robot technology, in which a legged robot based on bionic characteristics plays an important role in replacing or assisting human beings to complete tasks in complex and uncertain environments. In order to improve its application capability, the legged robot has to deal with real-world challenges such as perception, manipulation, and balance control in unstructured environments.

This Special Issue on “Bio-Inspired Locomotion and Manipulation of Legged Robot” aims to showcase new research achievements, findings, and ideas in the field of bio-inspired legged robots, such as the perception of legged robots, the study of human-like manipulation, the proposal of stable and robust control methods, machine learning, and so on. To this end, we encourage the submission of papers with new advances in theoretical, experimental, and computational approaches to bionic-legged robot applications. We welcome contributions from researchers in all realms of bio-inspired locomotion and manipulation of legged robots.

Prof. Dr. Xuechao Chen
Dr. Gan Ma
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Biomimetics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2200 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • bio-inspired legged robot design
  • modeling and optimization
  • robotic manipulation
  • robot dynamics
  • motion control
  • navigation
  • machine learning
  • motion planning
  • bionic-legged robot system
  • perception and sensing

Published Papers (2 papers)

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Research

21 pages, 8949 KiB  
Article
Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot
by Hao Yin, Ruiqi Shi and Jiang Liu
Biomimetics 2024, 9(5), 288; https://doi.org/10.3390/biomimetics9050288 - 11 May 2024
Viewed by 436
Abstract
Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs a novel multi-segment biomimetic robot based on an in-depth [...] Read more.
Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs a novel multi-segment biomimetic robot based on an in-depth investigation of the millipede’s biological characteristics and locomotion mechanisms. Key leg joints of millipede locomotion are targeted, and a mathematical model of the biomimetic robot’s leg joint structure is established for kinematic analysis. Furthermore, a central pattern generator (CPG) control strategy is studied for multi-jointed biomimetic millipede robots. Inspired by the millipede’s neural system, a simplified single-loop CPG network model is constructed, reducing the number of oscillators from 48 to 16. Experimental trials are conducted using a prototype to test walking in a wave-like gait, walking with a leg removed, and walking on complex terrain. The results demonstrate that under CPG waveform input conditions, the robot can walk stably, and the impact of a leg failure on overall locomotion is acceptable, with minimal speed loss observed when walking on complex terrain. The research on the structure and motion control algorithms of multi-jointed biomimetic robots lays a technical foundation, expanding their potential applications in exploring unknown environments, rescue missions, agriculture, and other fields. Full article
(This article belongs to the Special Issue Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition)
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17 pages, 3512 KiB  
Article
Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot
by Yaliang Liu, Xuechao Chen, Zhangguo Yu, Haoxiang Qi and Chuanku Yi
Biomimetics 2024, 9(5), 274; https://doi.org/10.3390/biomimetics9050274 - 2 May 2024
Viewed by 449
Abstract
High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion trajectory for high vertical jumping motion. [...] Read more.
High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion trajectory for high vertical jumping motion. The trajectory optimization process is decomposed into two sequential optimization parts: optimization computation of centroidal dynamics and coherent whole-body kinematics. Both optimization problems converge on the common variables (the center of mass, momentum, and foot position) using cost functions while allowing for some tolerance in the consistency of the foot position. Additionally, complementarity conditions and a pre-defined contact sequence are implemented to constrain the contact force and foot position during the launching and flight phases. The whole-body trajectory, including the launching and flight phases, can be efficiently solved by a single sequential optimization, which is an efficient solution for the vertical jumping motion. Finally, the whole-body trajectory generated by the proposed optimized method is demonstrated on a real humanoid robot platform, and a vertical jumping motion of 0.5 m in height (foot lifting distance) is achieved. Full article
(This article belongs to the Special Issue Bio-Inspired Locomotion and Manipulation of Legged Robot: 2nd Edition)
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