Query：
学者姓名：陈炳兴
Refining：
Year
Type
Indexed by
Source
Complex
Former Name
Co-
Language
Clean All
Abstract ：
借助前期研制的张拉仿生机器鱼,通过实验初步探索鱼体的身体刚度分布与鱼体波参数之间的关系.使用鱼体波重构方法,获取张拉机器鱼在频率为 1.87 Hz时不同刚度分布下的鱼体波参数.实验结果表明,摆幅、相位、波速和曲率与刚度分布之间存在关系.通过调整机器鱼的刚度分布,波速最大可提高约 21.5%,并且可以实现与真实鱼类相似的摆幅和改变最大曲率发生的位置.非均匀刚度分布在改变摆幅等方面存在优势.机器鱼第 4 关节的刚度对波速具有较大影响,但对曲率影响较小.刚度分布与鱼体波参数的相关性有助于机器鱼通过控制身体刚度优化鱼体波参数,提高游动性能.
Keyword ：
仿生机器鱼 仿生机器鱼 刚度分布 刚度分布 张拉整体结构 张拉整体结构 鱼体波参数 鱼体波参数
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | 陈文祥 , 章杰 , 姜洪洲 et al. 张拉仿生机器鱼身体刚度分布对鱼体波参数的影响 [J]. | 福州大学学报（自然科学版） , 2025 , 53 (2) : 159-167 . |
| MLA | 陈文祥 et al. "张拉仿生机器鱼身体刚度分布对鱼体波参数的影响" . | 福州大学学报（自然科学版） 53 . 2 (2025) : 159-167 . |
| APA | 陈文祥 , 章杰 , 姜洪洲 , 姚立纲 , 陈炳兴 . 张拉仿生机器鱼身体刚度分布对鱼体波参数的影响 . | 福州大学学报（自然科学版） , 2025 , 53 (2) , 159-167 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain.However,wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads.In this paper,a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed,and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum(WIP)are modeled.The primary bal-ance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator(LQR)and the compensation method of the virtual pitch angle adjusting the Center of Mass(CoM)position,then the whole-body hybrid torque-position control is established by combining attitude and leg controllers.The stability of the robot's attitude control and motion is verified with simulations and prototype experiments,which confirm the robot's ability to pass through complex terrain and resist external interference.The feasibility and reliability of the proposed control model are verified.
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Yi Xiong , Haojie Liu , Bingxing Chen et al. Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot [J]. | 仿生工程学报（英文版） , 2025 , 22 (2) : 626-641 . |
| MLA | Yi Xiong et al. "Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot" . | 仿生工程学报（英文版） 22 . 2 (2025) : 626-641 . |
| APA | Yi Xiong , Haojie Liu , Bingxing Chen , Yanjie Chen , Ligang Yao , Zongxing Lu . Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot . | 仿生工程学报（英文版） , 2025 , 22 (2) , 626-641 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
Miniature robots are increasingly used in unstructured environments and require higher mobility, robustness, and multifunctionality. However, existing purely soft and rigid designs suffer from inherent defects, such as low load capacity and compliance, respectively, restricting their functionality and performance. Here, we report new soft-rigid hybrid miniature robots applying the tensegrity principle, inspired by biological organisms' remarkable multifunctionality through tensegrity micro-structures. The miniature robot's speed of 25.07 body lengths per second is advanced among published miniature robots and tensegrity robots. The design versatility is demonstrated by constructing three bio-inspired robots using miniature tensegrity joints. Due to its internal load-transfer mechanisms, the robot has self-adaptability, deformability, and high impact resistance (withstand dynamic load 143,868 times the robot weight), enabling the robot to navigate diverse barriers, pipelines, and channels. The robot can vary its stiffness to greatly improve load capacity and motion performance. We further demonstrate the potential biomedical applications, such as drug delivery, impurity removal, and remote heating achieved by integrating metal into the robot.
Keyword ：
high-speed and adaptive locomotion high-speed and adaptive locomotion tunable stiffness tunable stiffness untethered miniature tensegrity robot untethered miniature tensegrity robot
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Chen, Bingxing , He, Zhiyu , Ye, Fang et al. Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion [J]. | SOFT ROBOTICS , 2025 . |
| MLA | Chen, Bingxing et al. "Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion" . | SOFT ROBOTICS (2025) . |
| APA | Chen, Bingxing , He, Zhiyu , Ye, Fang , Yang, Yi , Chen, Wenhu , Ding, Fuhui et al. Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion . | SOFT ROBOTICS , 2025 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads. In this paper, a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed, and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum (WIP) are modeled. The primary balance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator (LQR) and the compensation method of the virtual pitch angle adjusting the Center of Mass (CoM) position, then the whole-body hybrid torque-position control is established by combining attitude and leg controllers. The stability of the robot's attitude control and motion is verified with simulations and prototype experiments, which confirm the robot's ability to pass through complex terrain and resist external interference. The feasibility and reliability of the proposed control model are verified.
Keyword ：
Wheeled Robots Legged Robots Motion Control Mechanism Design Wheeled Robots Legged Robots Motion Control Mechanism Design
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Xiong, Yi , Liu, Haojie , Chen, Bingxing et al. Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot [J]. | JOURNAL OF BIONIC ENGINEERING , 2025 , 22 (2) : 626-641 . |
| MLA | Xiong, Yi et al. "Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot" . | JOURNAL OF BIONIC ENGINEERING 22 . 2 (2025) : 626-641 . |
| APA | Xiong, Yi , Liu, Haojie , Chen, Bingxing , Chen, Yanjie , Yao, Ligang , Lu, Zongxing . Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot . | JOURNAL OF BIONIC ENGINEERING , 2025 , 22 (2) , 626-641 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
Current bistable grippers are limited in triggering modes, adjustability, high-speed grasping controllability, and impact resistance, which constrains their adaptability to diverse targets and complex environments. This letter presents a tensegrity bistable gripper with five triggering modes, three grasping modes, two adjustable performance parameters, and controllable bistable grasping processes. The gripper's self-adaptive jaw supports envelope, hook, and pinch grasping modes, thereby handling objects with a broad size range (0.1-125 mm) and weight range (4.5 g-9.68 kg). By modeling the potential energy and gripping torque of the tensegrity bistable actuator, the proposed adjustment method increases the maximum gripping torque by 152% and raises the trigger energy barrier by 265 times. The five triggering modes offer adjustable grasping response times (0.04 s-26 s). One of the triggering modes enables controllable bistable grasping, allowing for real-time adjustment of both response time and gripper posture during operation. These features enhance the gripper's adaptive grasping capability. Experiments demonstrate successful adaptation to objects with diverse shapes, weights, stiffnesses, and postures while maintaining robust operation under vibrations and in confined spaces, demonstrating significant potential for robotic applications.
Keyword ：
Actuators Actuators adjustable performance adjustable performance Controllability Controllability Energy barrier Energy barrier Grasping Grasping Grippers Grippers multimodal triggering multimodal triggering Potential energy Potential energy process control process control Servomotors Servomotors Springs Springs tensegrity bistable gripper tensegrity bistable gripper Time factors Time factors Torque Torque
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Zheng, Zhiyuan , Lv, Huimin , Ye, Fang et al. A Controllable Tensegrity Bistable Gripper With Adjustable Performance and Multimodal Triggering [J]. | IEEE ROBOTICS AND AUTOMATION LETTERS , 2025 , 10 (10) : 10870-10877 . |
| MLA | Zheng, Zhiyuan et al. "A Controllable Tensegrity Bistable Gripper With Adjustable Performance and Multimodal Triggering" . | IEEE ROBOTICS AND AUTOMATION LETTERS 10 . 10 (2025) : 10870-10877 . |
| APA | Zheng, Zhiyuan , Lv, Huimin , Ye, Fang , Dong, Dibo , Chen, Bingxing . A Controllable Tensegrity Bistable Gripper With Adjustable Performance and Multimodal Triggering . | IEEE ROBOTICS AND AUTOMATION LETTERS , 2025 , 10 (10) , 10870-10877 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
Tensegrity metamaterials are considered superior to many traditional materials in engineering due to their exceptional variable stiffness, adaptive load-bearing capabilities, and adjustable morphing properties. This paper presents a novel negative Poisson's ratio tensegrity metamaterial featuring a substructure composed of a D-bar tensegrity structure and a rotating double-square negative Poisson's ratio structure. Firstly, we establish the geometric model of the D-bar tensegrity structure and determine the pretension relationships among its tension elements. We then describe the composition of the tensegrity metamaterials and their performance metrics. The stress-strain behavior of tension elements is characterized through tensile tests. Further experiments explore the effects of structural angle and pretension on the compressive load-displacement characteristics of the structure. Then, the effect of the structural angle of tensegrity metamaterial substructures on energy absorption is analyzed. Additionally, the impact resistance of tensegrity metamaterials with negative Poisson ratios shows significant compressive and impact durability. Their potential for enhancing drone protection and environmental adaptability is also demonstrated.
Keyword ：
impact resistance impact resistance metamaterial metamaterial negative Poisson's ratio negative Poisson's ratio tensegrity tensegrity
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Ding, Fuhui , Zheng, Kexin , Zhang, Yaoyao et al. Energy absorption and shock resistance analysis of tensegrity D-bar based metamaterials with negative Poisson's ratio [J]. | SMART MATERIALS AND STRUCTURES , 2025 , 34 (5) . |
| MLA | Ding, Fuhui et al. "Energy absorption and shock resistance analysis of tensegrity D-bar based metamaterials with negative Poisson's ratio" . | SMART MATERIALS AND STRUCTURES 34 . 5 (2025) . |
| APA | Ding, Fuhui , Zheng, Kexin , Zhang, Yaoyao , Zhang, Zhongzheng , Yang, Yi , Chen, Bingxing et al. Energy absorption and shock resistance analysis of tensegrity D-bar based metamaterials with negative Poisson's ratio . | SMART MATERIALS AND STRUCTURES , 2025 , 34 (5) . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
Due to its lightweight, impact resistance, and energy absorption, tensegrity is a good candidate for drone protection. Researching its collision resistance can significantly improve drone adaptability. This paper examines the structure-ground interaction and collision dynamics of 6-bar, 12-bar, and 30-bar tensegrity spheres through simulations and experiments. Results show consistency between simulations and experiments, confirming the collision dynamics model's effectiveness. The 6-bar tensegrity structure demonstrates excellent collision resistance. Additionally, the influence of structural materials, pretension, and ground types on the 6bar structure is analyzed, showing that increased cable pretension to certain values reduces peak acceleration during collisions. Drone collision tests with trees and high-altitude drops further confirm the tensegrity sphere's good environmental adaptability and protective effect.
Keyword ：
Collision resistant Collision resistant Spherical tensegrity structures Spherical tensegrity structures Tensegrity Tensegrity Tensegrity dynamics Tensegrity dynamics
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Zhang, Yaoyao , Zheng, Kexin , Zhao, Yi et al. Collision resistant study of spherical tensegrity structures for protective drone shells [J]. | EXTREME MECHANICS LETTERS , 2025 , 76 . |
| MLA | Zhang, Yaoyao et al. "Collision resistant study of spherical tensegrity structures for protective drone shells" . | EXTREME MECHANICS LETTERS 76 (2025) . |
| APA | Zhang, Yaoyao , Zheng, Kexin , Zhao, Yi , Zheng, Zhiyuan , Chen, Bingxing , Chen, Muhao . Collision resistant study of spherical tensegrity structures for protective drone shells . | EXTREME MECHANICS LETTERS , 2025 , 76 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
Traditional quadruped robots are known for their agile movement and versatility across varied terrains. However, their foot structures struggle to navigate unstructured terrains such as pipes, slopes, and protrusions. This paper proposes a novel tensegrity foot structure consisting of a tensegrity ankle joint and an X-shaped adaptive tensegrity footpad, which enhances the terrain adaptability of legged robots. The equilibrium equation of the ankle joint is established, and the relationship between the translational stiffness of the ankle joint and the spring stiffness is derived. Additionally, a mathematical model for the number of X-shaped tensegrity footpad units and their relationship with the deformation height and length of the tensegrity footpad is established. A physical prototype of the tensegrity foot was fabricated using 3D printing. Experiments are conducted to validate the adaptability of both the ankle joint and the tensegrity footpad. The results indicate that the proposed adaptive tensegrity foot structure exhibits good adaptability on unstructured terrains with varying radii, slopes, steps, S-curves, and spherical surfaces. The tensegrity foot structure can enhance the environmental adaptability of quadruped robots and has excellent impact resistance effects.
Keyword ：
adaptive locomotion adaptive locomotion ankle joint ankle joint quadruped robot quadruped robot shock absorption shock absorption tensegrity tensegrity
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Dong, Hui , Gan, Jiahao , Xia, Rongbiao et al. Adaptive tensegrity foot design for quadruped robots in unstructured terrains [J]. | SMART MATERIALS AND STRUCTURES , 2025 , 34 (2) . |
| MLA | Dong, Hui et al. "Adaptive tensegrity foot design for quadruped robots in unstructured terrains" . | SMART MATERIALS AND STRUCTURES 34 . 2 (2025) . |
| APA | Dong, Hui , Gan, Jiahao , Xia, Rongbiao , Lu, Zongxing , Chen, Bingxing , Chen, Muhao . Adaptive tensegrity foot design for quadruped robots in unstructured terrains . | SMART MATERIALS AND STRUCTURES , 2025 , 34 (2) . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
Body and/or caudal fin (BCF) fish mainly use their body and tail fin as propulsors, and tune their stiffness during swimming to enable rapid and efficient locomotion. However, current variable-stiffness biomimetic robotic fish with high-frequency actuation mainly focuses on the effect of tail fin stiffness. In this paper, we develop a freeswimming tensegrity robotic fish with multi-tensegrity joints, to experimentally study the effect of online body stiffness variation in fish-like swimming with high actuation frequency. We detail its remote high-frequency driving mechanism and fast stiffness adjustment system. We validate the wide-range and fast stiffness adjustment for the tensegrity joint. The robotic fish can dynamically alter various body stiffness distributions online by changing its joints' stiffness. The experimental results illustrate the nonlinear and dramatic effects of the driving frequency, body stiffness, and swimming state. The ability to adjust body stiffness online in swimming is demonstrated, enabling large range and fast changes in swimming speed and thrust. Compared to other biomimetic robotic fish, the tensegrity robotic fish's swimming performance is at an upper-middle level, and its variable stiffness ability is outstanding. This work offers valuable insights for the future optimization online of the swimming process in biomimetic fish design.
Keyword ：
Online adjustment Online adjustment Stiffness distribution Stiffness distribution Swimming performance Swimming performance Variable stiffness Variable stiffness
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Ding, Fuhui , Chen, Wenxiang , Zhang, Jiaze et al. A high-frequency oscillating tensegrity robotic fish with wide-ranging online body stiffness adjustability [J]. | OCEAN ENGINEERING , 2025 , 328 . |
| MLA | Ding, Fuhui et al. "A high-frequency oscillating tensegrity robotic fish with wide-ranging online body stiffness adjustability" . | OCEAN ENGINEERING 328 (2025) . |
| APA | Ding, Fuhui , Chen, Wenxiang , Zhang, Jiaze , Chen, Bingxing . A high-frequency oscillating tensegrity robotic fish with wide-ranging online body stiffness adjustability . | OCEAN ENGINEERING , 2025 , 328 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
Joints are the core components of robotic actuation systems. Their performance directly affects the system's dynamic characteristics. However, rigid and flexible joints both face a trade-off between environmental adaptability and response velocity due to their structural properties. A bionic tensegrity joint inspired by biological tensegrity principle is proposed. We present its structural design and stiffness model. The joint features tunable bistability, allowing synergistic optimization between adaptability and response velocity. Experiments show that the joint has negative stiffness and fast response. To validate the effectiveness of the proposed joint design, a gripper and a swimmer were developed. The gripper demonstrates a high response velocity of 56 ms while maintaining a payload capacity of up to 4 kg. Leveraging the bistable tensegrity joint, the swimmer achieves a swimming speed of 1.1 body lengths per second (BL s-1). A novel robotic design framework centered on rotational tensegrity joints has been developed, which demonstrates significant potential for agile locomotion, human-robot interaction, and adaptive manipulation.
Keyword ：
bistable characteristics bistable characteristics intelligent robot intelligent robot rotational joint rotational joint tensegrity structure tensegrity structure tunable stiffness tunable stiffness
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Ye, Fang , Huang, Jianmeng , Yu, Jianming et al. A rapid tunable stiffness bistable adaptive tensegrity joint for gripper and swimmer [J]. | SMART MATERIALS AND STRUCTURES , 2025 , 34 (9) . |
| MLA | Ye, Fang et al. "A rapid tunable stiffness bistable adaptive tensegrity joint for gripper and swimmer" . | SMART MATERIALS AND STRUCTURES 34 . 9 (2025) . |
| APA | Ye, Fang , Huang, Jianmeng , Yu, Jianming , Zhang, Jiaze , Yang, Yi , Zhang, Jie et al. A rapid tunable stiffness bistable adaptive tensegrity joint for gripper and swimmer . | SMART MATERIALS AND STRUCTURES , 2025 , 34 (9) . |
| Export to | NoteExpress RIS BibTex |
Version ：
Export
| Results： |
Selected to |
| Format： |
