Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy Wires
Bio-inspired joints play a pivotal role in legged robots, directly determining their motion capabilities and overall system performance. While shape memory alloy (SMA) actuators present superior power density and silent operation compared to conventional electromechanical drives, their inherent nonl...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-06-01
|
| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/10/6/378 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1839654689960886272 |
|---|---|
| author | Xiaojie Niu Xiang Yao Erbao Dong |
| author_facet | Xiaojie Niu Xiang Yao Erbao Dong |
| author_sort | Xiaojie Niu |
| collection | DOAJ |
| description | Bio-inspired joints play a pivotal role in legged robots, directly determining their motion capabilities and overall system performance. While shape memory alloy (SMA) actuators present superior power density and silent operation compared to conventional electromechanical drives, their inherent nonlinear hysteresis and restricted strain capacity (typically less than 5%) limit actuation range and control precision. This study proposes a bio-inspired joint integrating an antagonistic actuator configuration and differential dual-diameter pulley collaboration, achieving amplified joint stroke (±60°) and bidirectional active controllability. Leveraging a comprehensive experimental platform, precise reference input tracking is realized through adaptive fuzzy control. Furthermore, an SMA-driven bio-inspired leg is developed based on this joint, along with a motion retargeting framework to map human motions onto the robotic leg. Human gait tracking experiments conducted on the leg platform validate its motion performance and explore practical applications of SMA in robotics. |
| format | Article |
| id | doaj-art-f0fa1bfac77c4b44843f8eadb3ae2e06 |
| institution | Matheson Library |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-f0fa1bfac77c4b44843f8eadb3ae2e062025-06-25T13:32:40ZengMDPI AGBiomimetics2313-76732025-06-0110637810.3390/biomimetics10060378Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy WiresXiaojie Niu0Xiang Yao1Erbao Dong2Institute of Advanced Technology, University of Science and Technology of China, Hefei 230026, ChinaSchool of Engineering Science, University of Science and Technology of China, Hefei 230026, ChinaInstitute of Advanced Technology, University of Science and Technology of China, Hefei 230026, ChinaBio-inspired joints play a pivotal role in legged robots, directly determining their motion capabilities and overall system performance. While shape memory alloy (SMA) actuators present superior power density and silent operation compared to conventional electromechanical drives, their inherent nonlinear hysteresis and restricted strain capacity (typically less than 5%) limit actuation range and control precision. This study proposes a bio-inspired joint integrating an antagonistic actuator configuration and differential dual-diameter pulley collaboration, achieving amplified joint stroke (±60°) and bidirectional active controllability. Leveraging a comprehensive experimental platform, precise reference input tracking is realized through adaptive fuzzy control. Furthermore, an SMA-driven bio-inspired leg is developed based on this joint, along with a motion retargeting framework to map human motions onto the robotic leg. Human gait tracking experiments conducted on the leg platform validate its motion performance and explore practical applications of SMA in robotics.https://www.mdpi.com/2313-7673/10/6/378shape memory alloybio-inspired jointbio-inspired legmotion control |
| spellingShingle | Xiaojie Niu Xiang Yao Erbao Dong Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy Wires Biomimetics shape memory alloy bio-inspired joint bio-inspired leg motion control |
| title | Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy Wires |
| title_full | Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy Wires |
| title_fullStr | Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy Wires |
| title_full_unstemmed | Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy Wires |
| title_short | Design and Control of Bio-Inspired Joints for Legged Robots Driven by Shape Memory Alloy Wires |
| title_sort | design and control of bio inspired joints for legged robots driven by shape memory alloy wires |
| topic | shape memory alloy bio-inspired joint bio-inspired leg motion control |
| url | https://www.mdpi.com/2313-7673/10/6/378 |
| work_keys_str_mv | AT xiaojieniu designandcontrolofbioinspiredjointsforleggedrobotsdrivenbyshapememoryalloywires AT xiangyao designandcontrolofbioinspiredjointsforleggedrobotsdrivenbyshapememoryalloywires AT erbaodong designandcontrolofbioinspiredjointsforleggedrobotsdrivenbyshapememoryalloywires |