【主题】Biomimetic Crawling Robots: New Morphing Locomotion Mechanisms, Path Following and Validation（仿生爬行机器人：变形运动新机理、路径跟踪控制及实验研究）
【演讲者】Yantao Shen, University of Nevada, Reno
【时间】2019年1月17日上午 9:30
【地点】光电大楼940会议室
【邀请人】王永雄
【摘要】Nowadays, researchers are developing multiple ways for robots to autonomously move across surfaces or sub-surfaces without needing conventional wheels or legs. Compared to traditional surface or sub-surface robots, incorporating biomimetic approaches and concepts into the robot design is creating many impressive bio-inspired robots that are extremely flexible and robust in face of environmental contingencies and complex terrain on surface or sub-surface, due to their outstanding locomotion performance, active body configuration capability, and multiple terrain mobility that are found in the nature. In this talk, inspired by natural soft crawling animals with compliant joints, deformable shells or bodies and their locomotion strategies, our recent work on new class of biomimetic crawling robots will be introduced. Starting at analyzing and comparing locomotion behaviors on soft crawling animals, the new morphing locomotion mechanisms, robot prototype designs, modeling and control, path following, and locomotion performance validation of our crawling robots will be presented. Some interesting findings and results will be demonstrated and discussed.