Special Issue "Advances in Biomimetic Robotics"
A special issue of Robotics (ISSN 2218-6581).
Deadline for manuscript submissions: 31 March 2014
Prof. Dr. Ikuo Yamamoto
Department of Mechanical Science, Graduate School of Engineering, Nagasaki University, 1-14 Bunkyomachi, Nagasaki 852-8521, Japan
Interests: robotics (marine, aviation, space, medicine, welfare, etc.); system engineering (dynamics and control)
Living organisms’ mechanisms have evolved in order to adapt to their natural environment. The evolved mechanisms have excellent maneuvering capacities, and new robotics and machinery have often been created by implementation of biomimetic approaches. This special issue, therefore, focuses on technologies of modern biomimetic robotics, such as robotic fish, insects, birds, mammalians, reptiles, etc., to provide fruitful ideas for the creation of the next generation of machinery in society.
Prof. Dr. Ikuo Yamamoto
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. Papers will be published continuously (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as 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 (N.B. Conference papers may only be submitted if the paper was not originally copyrighted and if it has been extended substantially and completely re-written). All manuscripts are refereed through a peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Robotics is an international peer-reviewed Open Access quarterly journal published by MDPI.
Please visit the Instructions for Authors page before submitting a manuscript. For the first couple of issues the Article Processing Charge (APC) will be waived for well-prepared manuscripts. English correction and/or formatting fees of 250 CHF (Swiss Francs) will be charged in certain cases for those articles accepted for publication that require extensive additional formatting and/or English corrections.
- biomimetic robots (fish, insect, bird, mammalian, reptile)
The below list represents only planned manuscripts. Some of these manuscripts have not been received by the Editorial Office yet. Papers submitted to MDPI journals are subject to peer-review.
Type of Paper: Article
Title: Design, Modeling and Open-loop Control of a Carangiform Bio-inspired Robotic Fish
Author: Abhra Roy Chowdhury, Bhuneshwar Prasad, Vinoth Kumar, Rajesh Kumar and Sanjib Kumar Panda
Affiliation: Department of Electrical and Computer Engineering, National University of Singapore, Singapore; E-Mail: firstname.lastname@example.org
Abstract: This paper describes the modeling and control of a Bio-Inspired Robotic Fish. The current research has focused on the use of BCF mode carangiform swimming propulsion, which simulates the undulation of fish tail, i.e., the sinusoidal oscillation. Beginning from the CAD construction in Solidworks, 3D motion simulations in Matlab VRML, closed loop control simulation results are provided to illustrate the effectiveness of the proposed methodology. The manufactured prototype is a 45 cm. long, BCF (Body Caudal Fin) mode 6 DOF fishlike underwater robot with a horizontal caudal fin (tail). The system uses DC servomotors as actuators and is controlled by micro-controller dsPIC33F. A systematic and scientific approach of system modeling and integration has been presented here with the robotic-fish kinematics, dynamics with real-time simulation in Matlab and structural CAD design in Solidworks. This paper also unveils a model based controller in the form of computed torque method solution with PD compensation to match the desired response. Simulations and experiments have been carried out to validate the same model.
Type of Paper: Article
Title: Design Considerations for Hexapod Walking Robots
Authors: Franco Tedeschi and Giuseppe Carbone
Affiliation: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Via Di Biasio 43, 03043 Cassino (Fr), Italy
Abstract: Hexapod walking robots have attracted considerable attention in recent decades. Many studies have been implemented for hexapod walking robots, but only in the recent past, efficient walking machines have been conceived designed and built with performances that are suitable for practical applications. This paper gives an overview of the state of the art on six legs walking robots. Carefully attention is given to main design issue and constraints. A design procedure is also outlined in order to systematically design a six legs walking robots. Cases of study are described as referring to previous experiences at LARM in Cassino.
Type of Paper: Article
Title: Self-position Estimation of Small Robotic Fish Based on Camera Information and Gyro Sensors
Author: Yogo Takada
Affiliation: Department of Mechanical and Physical Engineering; Graduate School of Engineering; Osaka City University;-3-138 Sugimoto, Sumiyoshi-ku, Osaka-shi, Osaka, Japan
Abstract: Robotic fish are ideal for surveys of fish resources and underwater structural inspections. Fish are not easily surprised at externals and the noise of the robot because the robot looks like fish and does not have a screw propeller. Incidentally, it is comparatively difficult to know the self-position in water. Radio signals, such as GPS, cannot be received. Moreover, sound ranging cannot be used easily because there are many rocks and much seaweed in the place where fish live a lot. For practical usage such as taking pictures of fish in water, the robotic fish needs to follow the target fish and estimate its self-position to swim autonomously in water. We have developed a robotic fish named FOCUS (FPGA Offline Control Underwater Searcher) which has some micro CMOS cameras and a FPGA circuit board for data processing. Red object can be detected with the CMOS camera. Besides, using visual information from images taken from the other bottom facing camera, self-position estimation becomes possible. The self-position estimation has been conducted utilizing the real-time digital image correlation (DIC) method by using a FPGA. However, the accuracy of the self-position estimation has been bad under the influence of the yaw and roll motion of the robotic fish. In this study, the self-position estimation method has been greatly improved by using the value of the yaw and roll measured with gyro sensors.
Keywords : robotic fish; swimming; self-position estimation; digital image correlation; gyro sensor
Last update: 4 February 2014