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学者姓名：陈炳兴
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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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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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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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Robotic fish can enhance swimming performance through bistability, enabling rapid response and increased force. Existing bistable robotic fish are typically classified as either purely soft or purely rigid, which may constrain their performance. This letter introduces the rigid-soft coupled tensegrity robotic fish. The potential energy parameters, such as the energy barrier, are modified by adjusting the preload of the tension elements. An intermittent gear transmission scheme is proposed to accommodate the bistable state snapping. Experiments with the robotic fish were conducted to measure potential energy, swing speed, swimming performance, and thrust. The experimental results showed that the robotic fish's maximum swimming speed, minimum cost of transport, and maximum thrust were 1.1 BL/s, 10.5 J/kg/m, and 8.77 N, respectively. These metrics rank above the medium level compared to existing bistable robotic fish. Adjusting the energy barrier increases the average angular velocities of the robotic fish's step response and continuous swing by 88.8 $<^>{\circ }$/s and 503 $<^>{\circ }$/s, respectively. Moreover, the maximum thrust increased by 97.2%, and the average thrust increased by 1400%. These findings underscore the potential of mechanisms for adjusting bistable characteristics to improve the swimming performance of robotic fish, providing valuable insights for designing future generations of robotic fish.
Keyword ：
Bistable characteristics Bistable characteristics Energy barrier Energy barrier Fish Fish Force Force Grippers Grippers Potential energy Potential energy Robotic fish Robotic fish Robots Robots Servomotors Servomotors Sports Sports Springs Springs Structural engineering Structural engineering Swimming performance Swimming performance Tensegrity Tensegrity
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| GB/T 7714 | Chen, Bingxing , Zhang, Jiaze , Zhang, Jie et al. A Swimming Rigid-Soft Coupled Robot Using Tensegrity Principle With Adjustable Bistable Characteristics [J]. | IEEE ROBOTICS AND AUTOMATION LETTERS , 2025 , 10 (7) : 6800-6807 . |
| MLA | Chen, Bingxing et al. "A Swimming Rigid-Soft Coupled Robot Using Tensegrity Principle With Adjustable Bistable Characteristics" . | IEEE ROBOTICS AND AUTOMATION LETTERS 10 . 7 (2025) : 6800-6807 . |
| APA | Chen, Bingxing , Zhang, Jiaze , Zhang, Jie , Ding, FuHui , Zuo, Wentao , Jiang, Hongzhou et al. A Swimming Rigid-Soft Coupled Robot Using Tensegrity Principle With Adjustable Bistable Characteristics . | IEEE ROBOTICS AND AUTOMATION LETTERS , 2025 , 10 (7) , 6800-6807 . |
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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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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
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| 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 . |
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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
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| 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) . |
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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
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| 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 . |
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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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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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