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学者姓名：陈炳兴
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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
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| 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 . |
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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
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| 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 . |
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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
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| 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 . |
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Physical intelligence for aerial robots greatly enhances grasping and perching performance, but remains in emerging stages. This letter proposes a novel bistable soft gripper for aerial robots with high response speed (0.11 s), large holding force (23.47 N), and active/passive adaptive grasping and perching. The soft gripper is constructed by four bistable fingers, tension nets, and a bidirectional actuation system. The soft finger evolves from a simple bistable rotational joint. Tension nets inspired by spider webs are proposed to improve the energy barrier and grasping performance. Experiments are conducted to measure the gripper's potential energy variation and grasping performance. One peak and two local minima in the energy curve indicate the gripper's bistability. Experimental results show that tension nets can enhance the gripper's energy barrier, response speed, and maximum holding force by 915.07%, 38.55%, and 62.08%, respectively. The gripper's adjustability of the energy barrier is validated, enabling it to switch active/passive modes as needed. The experiments demonstrated static/dynamic grasping and perching for various daily objects with different shapes, sizes, and stiffness for the gripper and aerial robot. Finally, the robot can transport objects outdoors, and can be aerially manipulated by external force, demonstrating its great potential in aerial application.
Keyword ：
Aerial systems: applications Aerial systems: applications Autonomous aerial vehicles Autonomous aerial vehicles compliant joints and mechanisms compliant joints and mechanisms Computational intelligence Computational intelligence Energy barrier Energy barrier Fingers Fingers flexible robotics flexible robotics Force Force Grasping Grasping Grippers Grippers Robots Robots Robot sensing systems Robot sensing systems Shape Shape soft robot applications soft robot applications
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| GB/T 7714 | Yang, Yi , Fan, Linfeng , Weng, Tao et al. Bistable Soft Gripper With Tension Net Applied to UAV [J]. | IEEE ROBOTICS AND AUTOMATION LETTERS , 2025 , 10 (2) : 1920-1927 . |
| MLA | Yang, Yi et al. "Bistable Soft Gripper With Tension Net Applied to UAV" . | IEEE ROBOTICS AND AUTOMATION LETTERS 10 . 2 (2025) : 1920-1927 . |
| APA | Yang, Yi , Fan, Linfeng , Weng, Tao , Zhao, Yi , Chen, Bingxing , Li, Wenqiang . Bistable Soft Gripper With Tension Net Applied to UAV . | IEEE ROBOTICS AND AUTOMATION LETTERS , 2025 , 10 (2) , 1920-1927 . |
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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.
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| 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 . |
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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
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| 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 . |
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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
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| 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) . |
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Soft robots, inspired by living organisms in nature, are primarily made of soft materials, and can be used to perform delicate tasks due to their high flexibility, such as grasping and locomotion. However, it is a challenge to efficiently manufacture soft robots with complex functions. In recent years, 3D printing technology has greatly improved the efficiency and flexibility of manufacturing soft robots. Unlike traditional subtractive manufacturing technologies, 3D printing, as an additive manufacturing method, can directly produce parts of high quality and complex geometry for soft robots without manual errors or costly post-processing. In this review, we investigate the basic concepts and working principles of current 3D printing technologies, including stereolithography, selective laser sintering, material extrusion, and material jetting. The advantages and disadvantages of fabricating soft robots are discussed. Various 3D printing materials for soft robots are introduced, including elastomers, shape memory polymers, hydrogels, composites, and other materials. Their functions and limitations in soft robots are illustrated. The existing 3D-printed soft robots, including soft grippers, soft locomotion robots, and wearable soft robots, are demonstrated. Their application in industrial, manufacturing, service, and assistive medical fields is discussed. We summarize the challenges of 3D printing at the technical level, material level, and application level. The prospects of 3D printing technology in the field of soft robots are explored.
Keyword ：
3D printing 3D printing additive manufacturing additive manufacturing soft materials soft materials soft robots soft robots
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| GB/T 7714 | Dong, Hui , Weng, Tao , Zheng, Kexin et al. Review: Application of 3D Printing Technology in Soft Robots [J]. | 3D PRINTING AND ADDITIVE MANUFACTURING , 2024 , 11 (3) : 954-976 . |
| MLA | Dong, Hui et al. "Review: Application of 3D Printing Technology in Soft Robots" . | 3D PRINTING AND ADDITIVE MANUFACTURING 11 . 3 (2024) : 954-976 . |
| APA | Dong, Hui , Weng, Tao , Zheng, Kexin , Sun, Hao , Chen, Bingxing . Review: Application of 3D Printing Technology in Soft Robots . | 3D PRINTING AND ADDITIVE MANUFACTURING , 2024 , 11 (3) , 954-976 . |
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The inverse kinematics problem plays a crucial role in robotic manipulator planning, autonomous control, and object grasping. This problem can be solved in simple environments based on existing studies. However, it is still challenging to quickly find a feasible inverse kinematic solution when obstacle avoidance is required. In this paper, we present a nonconvex composite programming method to solve the inverse kinematics problem with overhead obstacle-avoidance requirements. Our method enables efficient obstacle avoidance by directly calculating the minimum distance between the manipulator and the overhead environment. We construct end-effector error functions based on the Product of Exponentials model and explicitly provide their gradient formula. We derive the minimum distance based on the geometry parametric equation and directly utilize it to construct the obstacle avoidance function. We propose an enhanced version of adaptive moment estimation based on shorttime gradient information to improve optimization performance. Finally, we conduct simulations and experiments in overhead line environments. Comparative results with other optimization methods demonstrate that our proposed method achieves a high success rate with a low solution time.
Keyword ：
Inverse kinematics Inverse kinematics Nonconvex programming Nonconvex programming Obstacle avoidance Obstacle avoidance Robotic manipulator Robotic manipulator
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| GB/T 7714 | Yang, Pengju , Shen, Feng , Xu, Dingjie et al. An obstacle-avoidance inverse kinematics method for robotic manipulator in overhead multi-line environment [J]. | ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH , 2024 , 53 . |
| MLA | Yang, Pengju et al. "An obstacle-avoidance inverse kinematics method for robotic manipulator in overhead multi-line environment" . | ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH 53 (2024) . |
| APA | Yang, Pengju , Shen, Feng , Xu, Dingjie , Chen, Bingxing , Liu, Ronghai , Wang, Hongwu . An obstacle-avoidance inverse kinematics method for robotic manipulator in overhead multi-line environment . | ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH , 2024 , 53 . |
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A bionic robotic fish based on compliant structure can excite the natural modes of vibration, thereby mimicking the body waves of real fish to generate thrust and realize undulate propulsion. The fish body wave is a result of the fish body's mechanical characteristics interacting with the surrounding fluid. Thoroughly analyzing the complex modal characteristics in such robotic fish contributes to a better understanding of the locomotion behavior, consequently enhancing the swimming performance. Therefore, the complex orthogonal decomposition (COD) method is used in this article. The traveling index is used to quantitatively describe the difference between the real and imaginary modes of the fish body wave. It is defined as the reciprocal of the condition number between the real and imaginary components. After introducing the BCF (body and/or caudal fin) the fish's body wave curves and the COD method, the structural design and parameter configuration of the tensegrity robotic fish are introduced. The complex modal characteristics of the tensegrity robotic fish and real fish are analyzed. The results show that their traveling indexes are close, with two similar complex mode shapes. Subsequently, the relationship between the traveling index and swimming performance is expressed using indicators reflecting linear correlation (correlation coefficient (Rc) and p value). Based on this correlation, a preliminary optimization strategy for the traveling index is proposed, with the potential to improve the swimming performance of the robotic fish.
Keyword ：
fish body wave fish body wave tensegrity robotic fish tensegrity robotic fish tensegrity structure tensegrity structure the complex orthogonal decomposition method the complex orthogonal decomposition method traveling index traveling index
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| GB/T 7714 | Chen, Bingxing , Zhang, Jie , Meng, Qiuxu et al. Complex Modal Characteristic Analysis of a Tensegrity Robotic Fish's Body Waves [J]. | BIOMIMETICS , 2024 , 9 (1) . |
| MLA | Chen, Bingxing et al. "Complex Modal Characteristic Analysis of a Tensegrity Robotic Fish's Body Waves" . | BIOMIMETICS 9 . 1 (2024) . |
| APA | Chen, Bingxing , Zhang, Jie , Meng, Qiuxu , Dong, Hui , Jiang, Hongzhou . Complex Modal Characteristic Analysis of a Tensegrity Robotic Fish's Body Waves . | BIOMIMETICS , 2024 , 9 (1) . |
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