Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (4): 953-964.doi: 10.1007/s42235-022-00186-0

• • 上一篇    

Bioinspired Centimeter-scale Sensor Free Obstacle-passing Robots with a Wireless Control System

Longxin Kan1, Zhenhua Wu1, Bo Song1, Bin Su1, Yusheng Shi1   

  1. 1 State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, Hubei, China
  • 收稿日期:2021-10-18 修回日期:2022-02-18 接受日期:2022-02-20 出版日期:2022-09-22 发布日期:2022-09-22
  • 作者简介:Longxin Kan1, Zhenhua Wu1, Bo Song1, Bin Su1, Yusheng Shi1

Bioinspired Centimeter-scale Sensor Free Obstacle-passing Robots with a Wireless Control System

Longxin Kan1, Zhenhua Wu1, Bo Song1, Bin Su1, Yusheng Shi1   

  1. 1 State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, Hubei, China
  • Received:2021-10-18 Revised:2022-02-18 Accepted:2022-02-20 Online:2022-09-22 Published:2022-09-22
  • Contact: Bo Song, Bin Su E-mail:bosong@hust.edu.cn, subin@hust.edu.cn
  • About author:Longxin Kan1, Zhenhua Wu1, Bo Song1, Bin Su1, Yusheng Shi1

摘要: Obstacle avoidance is of great importance for mobile robots since it provides protection for the robots’ safety and ensures their routine operations. Sensors are proven to play an important role in robots obstacle avoidance, and they are useful as well. However, more sensors indicating additional space, larger weight load and more energy consumption. Reducing unnecessary sensors is conducive to the development of mobile robots and remains promising. Here we demonstrate Sensor Free Obstacle-Passing Robots (SFOPRs) inspired by flies using the Obstacle-passing strategy instead of Obstacle avoidance. The ability to autonomously adjust its direction after hitting obstacles and the ability to continuously hit obstacles are 2 key problems that need to be solved to build this robot. Owing to arc-shaped head design and undulating motion behaviors, the robots can autonomously adjust their direction to the outline of obstacles, such as a 90o corner, dispersive irregular obstacles, and even an “S” type channel without the assistance of any sensor. Besides, the caterpillar-like movement enables robots to continuously hit obstacles. Furthermore, collaborative awareness and mutual aid can be realized among two or more prototype robots, indicating simple yet functional units for future swarm robots. This study could provide a new strategy to pursue sensor-free obstacle-passing robots for future swarm robot applications.

关键词: Bioinspired , · Sensor , · Obstacle , · Swarm robots , · Untethered

Abstract: Obstacle avoidance is of great importance for mobile robots since it provides protection for the robots’ safety and ensures their routine operations. Sensors are proven to play an important role in robots obstacle avoidance, and they are useful as well. However, more sensors indicating additional space, larger weight load and more energy consumption. Reducing unnecessary sensors is conducive to the development of mobile robots and remains promising. Here we demonstrate Sensor Free Obstacle-Passing Robots (SFOPRs) inspired by flies using the Obstacle-passing strategy instead of Obstacle avoidance. The ability to autonomously adjust its direction after hitting obstacles and the ability to continuously hit obstacles are 2 key problems that need to be solved to build this robot. Owing to arc-shaped head design and undulating motion behaviors, the robots can autonomously adjust their direction to the outline of obstacles, such as a 90o corner, dispersive irregular obstacles, and even an “S” type channel without the assistance of any sensor. Besides, the caterpillar-like movement enables robots to continuously hit obstacles. Furthermore, collaborative awareness and mutual aid can be realized among two or more prototype robots, indicating simple yet functional units for future swarm robots. This study could provide a new strategy to pursue sensor-free obstacle-passing robots for future swarm robot applications.

Key words: Bioinspired , · Sensor , · Obstacle , · Swarm robots , · Untethered