TY - GEN
T1 - Inchworm-Gecko Inspired Robot with Adhesion State Detection and CPG Control
AU - Zhang, Zijian
AU - Chu, Zhongyi
AU - Zhang, Bolun
AU - Cui, Jing
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - Although many climbing robots have been developed, working stably on complex surface in narrow space still remains a challenge. In this work, we present a miniature inchworm-gecko inspired robot (IGIR) which can achieve climbing and sensing adhesion state on different kinds of surface including flat and porous surfaces. Inspired by the inchworm’s locomotion and gecko’s adhesion mechanism, we conduct the overall system design of IGIR by using servos and connecting rods to form a motion module, the negative pressure driven gecko adhesion feet as the adhesive module, and the micro three-axis force sensor as the sensing module. Facing the problem of stable adhesion perception of climbing robots, the adhesion state detection of IGIR is realized through the sensing module and detection strategy. A novel CPG control model is established to realize the periodic gait of IGIR, and the adaptive adjustment is completed by combining the adhesion state detection information. Finally, a prototype of IGIR is made. Experiments of the prototype verify the feasibility of the proposed adhesion state detection and CPG control model of IGIR. The maximum moving speed of IGIR is 24 cm/min. Over all, this paper shows the combination of adhesion detection and gait planning for climbing robot, and provides a new way to the research of climbing robot stable locomotion.
AB - Although many climbing robots have been developed, working stably on complex surface in narrow space still remains a challenge. In this work, we present a miniature inchworm-gecko inspired robot (IGIR) which can achieve climbing and sensing adhesion state on different kinds of surface including flat and porous surfaces. Inspired by the inchworm’s locomotion and gecko’s adhesion mechanism, we conduct the overall system design of IGIR by using servos and connecting rods to form a motion module, the negative pressure driven gecko adhesion feet as the adhesive module, and the micro three-axis force sensor as the sensing module. Facing the problem of stable adhesion perception of climbing robots, the adhesion state detection of IGIR is realized through the sensing module and detection strategy. A novel CPG control model is established to realize the periodic gait of IGIR, and the adaptive adjustment is completed by combining the adhesion state detection information. Finally, a prototype of IGIR is made. Experiments of the prototype verify the feasibility of the proposed adhesion state detection and CPG control model of IGIR. The maximum moving speed of IGIR is 24 cm/min. Over all, this paper shows the combination of adhesion detection and gait planning for climbing robot, and provides a new way to the research of climbing robot stable locomotion.
KW - Adhesion state detection
KW - CPG control model
KW - Inchworm-gecko inspired robot
UR - https://www.scopus.com/pages/publications/85149811286
U2 - 10.1007/978-981-99-0617-8_6
DO - 10.1007/978-981-99-0617-8_6
M3 - 会议稿件
AN - SCOPUS:85149811286
SN - 9789819906161
T3 - Communications in Computer and Information Science
SP - 70
EP - 84
BT - Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers
A2 - Sun, Fuchun
A2 - Cangelosi, Angelo
A2 - Zhang, Jianwei
A2 - Yu, Yuanlong
A2 - Liu, Huaping
A2 - Fang, Bin
PB - Springer Science and Business Media Deutschland GmbH
T2 - 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022
Y2 - 17 December 2022 through 18 December 2022
ER -