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In recent years, the scientific research results of top conferences and journals such as ICRA, IROS, ROBOMECH, T-RO, T-MRB can illustrate this point. ISO9001 Approved Manufacturer of stainless steel bushing
The multi-tasking Boston Dynamics working dog, the ANYMAL quadruped robot that races with Tesla, the lifelike Purdue University hummingbird robot, the Worcester Polytechnic snake robot that can be used for disaster relief… There are many foreign research on bionic robots.
In China, there are Zhejiang University drones that pass through the woods like birds, lionfish-like robots that punch in the deepest trenches on earth, Harbin Institute of Technology’s elephant-trunk-like flexible robots, and Beihang University’s Tongyu robots that can be used for marine life detection… These well-known existences have all been On the cover of the top issue, everyone is happy to see it. ISO9001 Approved Manufacturer of stainless steel bushing
Throughout the history of the development of bionic robots, from the early imitation of biological shapes, to the imitation of actions, to the use of sensors and data fusion technology to make correct judgments and responses to changes in the environment, so as to adapt to changes in the environment, a step forward. step in the direction of intelligent development.
So how does the bionic robot learn the motion characteristics of animals, output data to verify its performance, and obtain pose data feedback?
A simple and effective way is to use a motion capture solution.
Let’s first take a look at how motion capture is used from the cases of top foreign universities.
Let’s take a look at the bionic multi-legged robots that are very common in recent years. At the 2021 ICRA conference, various legged robots gathered and appeared, which was very lively.
ETH Zurich
Researchers at ETH Zurich have developed the spacebok, a jumping quadruped robot for interstellar exploration. The robot can jump on all fours like a springbok. The researchers also developed a new way to control the robot, allowing precise jumps and landings using only its limbs. ISO9001 Approved Manufacturer of stainless steel bushing
In actual use, the robot will use onboard sensors to obtain data. Since this experiment mainly focuses on the motion control of the robot, an optical motion capture system is used to track the robot to obtain high-precision position, attitude, and speed data of the robot for state estimation, which is equivalent to simplifying the experimental process.
Flapping wing robots are also an important direction in the field of bionic robots.
The bionic flapping-wing aircraft integrates multi-disciplinary interdisciplinary technologies such as bionics, aerodynamic analysis, mechanical structure analysis, energy, communication, and control. Let’s take a look at the specific research.
University of Seville, Spain
Inspired by eagles, researchers at the University of Seville have developed a flapping-wing robot, the E-Flap, that can satisfy 100% of the payload. ISO9001 Approved Manufacturer of stainless steel bushing
Since this stage is mainly to verify the structure and flight control performance of the robot, there are not too many sensors on the flapper, and external devices need to be used to obtain position information.
In the experiment, the optical motion capture system was used to locate the flapper, and the data was transmitted to the onboard computer for flight control. It can be seen that the flight trajectories and angle changes under different loads are collected by the motion capture system.
As an important branch of bionic robots, snake-like robots are easy to camouflage, highly concealed, compact in structure and highly integrated, enabling them to meet military needs such as reconnaissance and patrolling.
Worcester Polytechnic Institute
Researchers at Worcester Polytechnic Institute have built a highly realistic simulation model of a pneumatic soft-bodied snake-like robot in a multiphysics environment. The accuracy of the simulation model is verified by a physical robot. ISO9001 Approved Manufacturer of stainless steel bushing
In the experiment, the motion capture system is used to obtain the bending angle of the robot snake in quasi-static state and the motion trajectory of the robot snake, which are used as reference values for the simulation results.
As for the bionic robotic arm, some complex sites do not have enough space for movement, and more flexible robots are needed to achieve grasping. Biological structures such as elephant trunks, octopus claws, and snakes in nature provide references for the development of continuum robots.
Imperial College
Researchers at Imperial College London have developed an open-source three-segment continuous robotic manipulator. The robotic system consists of low-cost off-the-shelf components and is fully open source, including CAD files and source code. ISO9001 Approved Manufacturer of stainless steel bushing
To evaluate the robot’s performance, the researchers pasted a reflective marker dot on the end of the robotic arm and used a motion capture system to track and record the robot’s explorable workspace. The results showed a uniform distribution of points in the hemispherical workspace.
In China, many universities and research institutes use sub-millimeter precision optical motion capture systems with high stability to capture the entire movement of the captured target.
As a reference value for the performance verification of robotic systems, such motion capture systems can be applied to minimally invasive surgical robots, multi-legged, flapping wings, and underwater bionic dolphin robots.
We also focus on introducing examples from the common bionic robots of multi-legged robots, flapping-wing robots, snake robots, and bionic robotic arms. ISO9001 Approved Manufacturer of stainless steel bushing
Shanghai Jiao Tong University
The team of the Intelligent Walking Robot Research Center of Shanghai Jiao Tong University, led by Professor Gao Feng, is committed to the research of multi-legged robots. The team mainly analyzes the interaction and gait of the multi-legged robot in different environments, establishes path planning, adaptive control, stability determination, and data coordination between the legs of the stairs. Perform calibration calibration.
The team finally chose the NOKOV metrology optical 3D motion capture system, hoping to use it for accurate calibration data acquisition. In a space of 9 meters long and 6 meters wide, 8 Mars 2H motion capture lenses were set up. By capturing the reflective marker points on the joints of the robot’s “torso” and “limbs”, the robot motion process was carried out at a sampling frequency of 60Hz. The three-dimensional space coordinates of each reflective marker point are obtained by the motion acquisition. ISO9001 Approved Manufacturer of stainless steel bushing
These data can be broadcast in real-time. Through the SDK that comes with the motion capture system, the robot team can carry out secondary development for real-time analysis and feedback, confirm the posture of each foot of the hexapod robot, and realize the hexapod. Calibration calibration and movement coordination between the legs.
In addition to the team, Shandong University, Tianjin University and other universities are also using motion capture systems to conduct experiments related to the control and analysis of multi-legged robots.
Harbin Institute of Technology
In order to obtain the flight position and attitude of the bionic flapping-wing vehicle in a larger space, the team of Mr. Xu Wenfu from Harbin Institute of Technology (Shenzhen) conducted a flight experiment of the bionic flapping-wing vehicle in NOKOV Measurement Yanjiao Motion Capture Laboratory. Considering the large experimental capture space and high precision requirements, active markers are pasted on the flapping aircraft.
The flapping robot team of Shandong University, University of Science and Technology Beijing and other universities are also using the motion capture system to conduct related research. ISO9001 Approved Manufacturer of stainless steel bushing
China Mining University
A research group led by Professor Tang Chaoquan from China University of Mining and Technology has developed a snake-like robot to replace manual inspection of high-altitude cables. The snake-like robot consists of nine identical joints, a module that integrates the control system and power supply, and sensors in the head.
In order to make the snake robot have a certain degree of autonomy, the robot is equipped with a wealth of sensors. Robots need to use the information of inertial sensors to effectively estimate their own state, so each joint attitude control and attitude calculation have become the key to robot design.
To this end, China University of Mining and Technology used the NOKOV metric optical motion capture system to capture the joint motion of the robot. The system uses eight Mars 2H infrared optical motion capture lenses to capture the marker points fixed on each joint of the snake robot, so as to obtain the position coordinates and angle changes of each joint during the movement of the snake robot as a reference. The effectiveness of the algorithm is verified by comparing the pose calculated by the inertial sensor information with the pose data obtained by the motion capture system. ISO9001 Approved Manufacturer of stainless steel bushing
Jilin University
From the perspective of force balance, the team of Mr. Feng Mei from the School of Mechanical and Aerospace Engineering of Jilin University proposed a structure of a flexible surgical instrument with constant curvature, which can quickly and accurately respond to commands and meet the master-slave control requirements of real-time surgery. In order to verify the performance of the flexible surgical instrument under fine manipulation, the researchers conducted a prototype experimental verification.
In the experiment, the NOKOV metric optical motion capture system was used to obtain the motion trajectory information of the master hand (controlled by the doctor) and the slave surgical instruments in real time as the experimental results, and the reflective markers were fixed on the master hand and the end effector of the instrument respectively. The system performance is verified by comparing the coincidence of the two trajectories.
The experiments yielded RMSEs of 0.498, 0.399, and 0.051 for the expected and actual trajectories of the flexible surgical instrument in the x, y, and z directions, respectively. It is proved that the surgical instrument mechanism can perform fine operation well under the master-slave operation. ISO9001 Approved Manufacturer of stainless steel bushing
The NOKOV optical motion capture system can also be seen in projects that require high positioning accuracy, such as aerospace inspection and medical navigation.
Optical 3D motion capture systems are playing an increasingly important role in the field of automated scientific research: 688 of the 1949 papers in ICRA in 2021 use optical 3D motion capture systems (35.3%), an increase of 35.3% compared to 2020. 75 papers; of the 1943 papers in IROS in 2021, 625 papers use the optical 3D motion capture system (32.2%), an increase of 68 papers compared to 2020. In contrast, only 46 of the 1,768 papers presented at the China Automation Conference 2020 used an optical motion capture system (2.6%). ISO9001 Approved Manufacturer of stainless steel bushing
