The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature’s genius but also significantly enrich various domains through their versatility.

Bioinspiration and Biomimetic Art in Robotic Grippers

When a natural or human disaster occurs, time is critical and often of vital importance. Data from the incident area containing the information to guide search and rescue (SAR) operations and improve intervention effectiveness should be collected as quickly as possible and with the highest accuracy possible. Nowadays, rescuers are assisted by different robots able to fly, climb or crawl, and with different sensors and wireless communication means. However, the heterogeneity of devices and data together with the strong low-delay requirements cause these technologies not yet to be used at their highest potential. Cloud and Edge technologies have shown the capability to offer support to the Internet of Things (IoT), complementing it with additional resources and functionalities. Nonetheless, building a continuum from the IoT to the edge and to the cloud is still an open challenge. SAR operations would benefit strongly from such a continuum. Distributed applications and advanced resource orchestration solutions over the continuum in combination with proper software stacks reaching out to the edge of the network may enhance the response time and effective intervention for SAR operation. The challenges for SAR operations, the technologies, and solutions for the cloud-to-edge-to-IoT continuum will be discussed in this paper.

/pdf/the-cloud-to-edge-to-iot-continuum-as-an-enabler-for-search-2nxrd79h.pdf

The Cloud-to-Edge-to-IoT Continuum as an Enabler for Search and Rescue Operations

In recent years, quadruped mobile robots' development had experienced rapid progress, which has subsequently increased their usage in many human-assisted applications. Numerous researchers from different fields such as mechanics, computers, electronics, biologics, etc. have contributed significantly to advance the quadruped robot developments. In this work, we propose a profound study on the quadruped robots' mechanism and control and highlight crucial development in the state-of-the-art techniques. Furthermore, we provide a comprehensive review of the most advanced robots that have impacts on the state-of-the-art techniques. In addition, we classify the key leg mechanisms and topologies, joint configurations, actuation systems, gait planning, stabilization, and control approaches. We presented reviews of various techniques such as kinematics, dynamics models and control approaches, and gait planning challenges and solutions. Moreover, we discuss the past and current state of the quadruped mobile robots' mechanisms and applications, control and trending control approaches, key challenges, and future possible trends. In conclusion, this research provides a comprehensive work on the key aspects of quadruped robot mechanisms, control approaches, evolution, and future trend. 

A study on quadruped mobile robots


Purpose
Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research progress of snake-inspired robots according to their application environments. It classifies snake-inspired robots according to the numbers of degrees of freedom in each joint and briefly describes the modeling and control of snake-inspired robots. Finally, the application fields and future development trends of snake-inspired robots are analyzed and discussed.


Design/methodology/approach
This paper summarizes the research progress of snake-inspired robots and clarifies the requirements of snake-inspired robots for self-adaptive environments and multi-functional tasks. By equipping various sensors and tool modules, snake-inspired robots are developed from fixed-point operation in a single environment to autonomous operation in an amphibious environment. Finally, it is pointed out that snake-inspired robots will be developed in terms of rigid and flexible deformable structure, long endurance and multi-function and intelligent autonomous control.


Findings
Inspired by the modular and reconfigurable concepts of biological snakes, snake-inspired robots are well adapted to unknown and changing environments. Therefore, snake-inspired robots will be widely used in industrial, military, medical, post-disaster search and rescue applications. Snake-inspired robots have become a hot research topic in the field of bionic robots.


Originality/value
This paper summarizes the research status of snake-inspired robots, which facilitates the reader to be a comprehensive and systematic understanding of the research progress of snake-inspired robots. This helps the reader to gain inspiration from biological perspectives.


The snake-inspired robots: a review

This letter proposes a new method combined by the parameterization method and T-IK to solve the inverse kinematics problem of redundant manipulators in the position domain. T-IK is an improved multi-objective optimization algorithm based on NSGA-II. By adding population migration strategy and adaptive interval search operator in algorithm, we can maintain the global search ability of T-IK and greatly strengthen its local search ability. This method was applied to an 8-DOF tunnel shotcrete robot whose inverse kinematics algorithm needed to meet the accuracy, continuity and real-time requirement and avoid joint limits. We compared T-IK with Bio-IK, TRAC-IK, NSGA-II, MOEA/D, and ISGABT algorithms on tunnel trajectory, polyline trajectory, and arc trajectory to test its performance. Although T-IK is slightly inferior to MOEA/D in running time, it is much better than other algorithms in almost all indexes.

T-IK: An Efficient Multi-Objective Evolutionary Algorithm for Analytical Inverse Kinematics of Redundant Manipulator

This letter presents a gripper module for a snake-like robot to perform search and rescue tasks in a narrow space. The proposed gripper module has three features: (1) It can accommodate the fingers inside its body. (2) It has three fingers that can grip objects with irregular surfaces stably. (3) One of the fingers is equipped with a camera on the fingertip to search in a narrow space. To implement the above features in a small, light, and compact gripper module, we propose a novel design of a gripper module with three fingers and eight degrees of freedom. The joint configuration of the proposed gripper is unique compared with a general-type gripper. A prototype of the proposed gripper module has been integrated into a snake-like robot to demonstrate its capability of performing rescue tasks in a collapsed environment. The three features of the proposed gripper module are experimentally verified: it is light (0.4 kg), small (less than 68 mm in diameter), and powerful (grasping force = 2.48kgf).

/pdf/snake-robot-gripper-module-for-search-and-rescue-in-narrow-1yajx8ei.pdf

Snake Robot Gripper Module for Search and Rescue in Narrow Spaces

We present a spring loaded inverted pendulum (SLIP) based robot leg to enable decoupled swing motion and spring-like behavior. The two SLIP principles (decoupled swing motion and spring-like behavior) allow an improved understanding of robot locomotion and its control. Proposed leg mechanism include one degree of freedom (DOF) straight-line generating mechanism to perform ideal spring-like behavior and the pantograph to amplify that. The spring-like behavior can be implemented using mechanical constraints with Chebyshev linkage and the virtual spring method. For applying the virtual spring method to the radial motion controlled by one actuator, the relationship between the actuator force and radial force acting on the foot end was determined by using a kinematic interpretation. A 1-DOF test bed including the suggested leg was built and tested to verify the decoupled motions. The spring-like leg behavior was demonstrated during the free fall experiment and the experiment in which external force was applied.

A SLIP-based Robot Leg for Decoupled Spring-like Behavior: Design and Evaluation

This paper introduces a new hydraulic manipulator with hydraulic-cable driven actuation (HCA) modules for disaster response mobile-manipulation. The hydraulic actuation system has the potential to apply disaster-response application, because it has a higher power-to-weight ratio and robustness to external impacts than electric motor actuation. However, using a conventional hydraulic manipulators is inappropriate because the revolute joint uses conventional actuators, such as linear cylinders and vanes, which have some limitations: 1) linear cylinder: small range of motion, 2) vane: low torque-toweight ratio. To overcome these limitations, we propose new 3DOF manipulator which has a larger workspace than the conventional hydraulic manipulator and comparable payloadto-weight ratio. To this end, we use hydraulic-cable driven actuation modules from our previous research. Experimental results verify the basic performance of the actuator modules and manipulator and their capability to perform various disaster response tasks.

Design and Implementation of Hydraulic-Cable driven Manipulator for Disaster Response Operation

Teleoperation, in which humans and robots work together to improve work performance, is growing explosively. However, the work performance of teleoperation is not yet excellent. Master–slave systems with different kinematics and workspaces need space-transformation control techniques. These techniques cause psychological fatigue to an operator with poor manipulation skills. In this study, we propose an intuitive master design that focuses on fatigue. Large workspaces reduce mental fatigue; however, they lead to physical fatigue problems. To solve this problem, we reflect the role of actuators in the design, through functional separation using movement and gravity compensation. This study proposes the design and prototype fabrication of an intuitive master K-handler to improve remote-work performance. The K-handler features six degrees of freedom (DoF), an anthropomorphic structure, and a lightweight nature. It has a reach long enough to cover the workspace of the human arm to reduce mental fatigue. In addition, gravity compensation, which can reduce the operator’s physical fatigue during operation, is possible in all workspace areas.

https://www.mdpi.com/2076-0825/11/7/204/pdf?version=1658402229

Design of an Intuitive Master for Improving Teleoperation Task Performance Using the Functional Separation of Actuators: Movement and Gravity Compensation

Design and Implementation of 3DoF Manipulator with Cable-Hydraulic Driven Actuation for Cooperative Robot with High Output and Low Inertia

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