Bio-inspired robots with smart muscles: Modeling, control and actuation

J. Colorado; A. Barrientos; C. Rossi

doi:10.1016/j.riai.2011.09.005

Bio-inspired robots with smart muscles: Modeling, control and actuation

J. Colorado
, A. Barrientos
, C. Rossi

Technical University of Madrid

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

The smart muscles are metal alloys that exhibit a property known as the Shape Memory Effect (SME). These materials are composed by an uniform crystal structure that allows the metal alloy to strain as a function of its transition temperature. They are so-called smart materials because the property of recovering their initial configuration after receiving a thermal stimulus. This article presents the use of a smart muscle actuator applied to a bio-inspired micro aerial bat-like robot. These flying mammals have developed powerful muscles that extend along the bone structure of their wings, providing an amazing level of maneuverability. To mimic that kind of morphing wings using an artificial counterpart requires the analysis of new actuation technologies, addressing issues such as the modeling and control that ensure the applicability of this smart actuators composed by Shape Memory Alloys (SMA).

Translated title of the contribution	Músculos inteligentes en robots biológicamente inspirados: Modelado, control y actuación
Original language	English
Pages (from-to)	385-396
Number of pages	12
Journal	RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
Volume	8
Issue number	4
DOIs	https://doi.org/10.1016/j.riai.2011.09.005
State	Published - 2011
Externally published	Yes

Keywords

Bio-inspired robots
Morphing wings
Shape Memory Alloys (SMAs)

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10.1016/j.riai.2011.09.005

Cite this

@article{328baaa0979646a4ade782f1d7683e01,

title = "Bio-inspired robots with smart muscles: Modeling, control and actuation",

abstract = "The smart muscles are metal alloys that exhibit a property known as the Shape Memory Effect (SME). These materials are composed by an uniform crystal structure that allows the metal alloy to strain as a function of its transition temperature. They are so-called smart materials because the property of recovering their initial configuration after receiving a thermal stimulus. This article presents the use of a smart muscle actuator applied to a bio-inspired micro aerial bat-like robot. These flying mammals have developed powerful muscles that extend along the bone structure of their wings, providing an amazing level of maneuverability. To mimic that kind of morphing wings using an artificial counterpart requires the analysis of new actuation technologies, addressing issues such as the modeling and control that ensure the applicability of this smart actuators composed by Shape Memory Alloys (SMA).",

keywords = "Bio-inspired robots, Morphing wings, Shape Memory Alloys (SMAs)",

author = "J. Colorado and A. Barrientos and C. Rossi",

note = "Funding Information: El objetivo de esta Secci{\'o}n consiste en analizar la respues-ta de las SMAs en lazo abierto utilizando el modelo fenome-nol{\'o}gico y par{\'a}metros de la Tabla 1. Se considera una se{\~n}al escal{\'o}n de corriente de 300mA como est{\'i}mulo t{\'e}rmico. La Figura 2 muestra la curva de hist{\'e}resis de la fibra muscular SMA utilizando el modelo de temperatura (T) y Fracci{\'o}n Martensita-FM ξ de la Tabla 1. Al final de la fase de calentamiento, la fibra es 100\% austenita, logrando un porcentaje de contracci{\'o}n del 5 \% para una fibra NiTi de 150μm de grosor y longitud de 10cm. El tiempo de contracci{\'o}n de la fibra fue de tc = 1s a una tempe-ratura ambiente de 20◦C. Este bucle de hist{\'e}resis para fibras de NiTi por lo general var{\'i}a entre los 20 y 50◦C. Funding Information: Empleando el modelo cinem{\'a}tico en (1) para el mecanis-mo de rotaci{\'o}n mostrado en la Figura 1c, es posible obtener el movimiento angular de la articulaci{\'o}n θi en funci{\'o}n del incre-mento de la fuerza de contracci{\'o}n de la fibra (ε˙), el radio de la articulaci{\'o}n (rj), y la longitud inicial de la fibra SMA en estado de reposo (lsma,). Esta relaci{\'o}n geom{\'e}trica equivale a: Funding Information: Los Autores agradecen la colaboraci{\'o}n e informaci{\'o}n brin-dada en lo referente al estudio biol{\'o}gico de murci{\'e}lagos por parte del grupo de Mec{\'a}nica de Fluidos de la Universidad de Brown, USA, en especial a su director el Prof. Kenny Breuer, PhD, y a la Prof. Sharon Swartz, PhD, directora del Swartz Lab, Departamento de Ecolog{\'i}a y Biolog{\'i}a Evolutiva de Brown.",

year = "2011",

doi = "10.1016/j.riai.2011.09.005",

language = "English",

volume = "8",

pages = "385--396",

journal = "RIAI - Revista Iberoamericana de Automatica e Informatica Industrial",

issn = "1697-7912",

publisher = "Universidad Politecnica de Valencia",

number = "4",

}

TY - JOUR

T1 - Bio-inspired robots with smart muscles

T2 - Modeling, control and actuation

AU - Colorado, J.

AU - Barrientos, A.

AU - Rossi, C.

N1 - Funding Information: El objetivo de esta Sección consiste en analizar la respues-ta de las SMAs en lazo abierto utilizando el modelo fenome-nológico y parámetros de la Tabla 1. Se considera una señal escalón de corriente de 300mA como estímulo térmico. La Figura 2 muestra la curva de histéresis de la fibra muscular SMA utilizando el modelo de temperatura (T) y Fracción Martensita-FM ξ de la Tabla 1. Al final de la fase de calentamiento, la fibra es 100% austenita, logrando un porcentaje de contracción del 5 % para una fibra NiTi de 150μm de grosor y longitud de 10cm. El tiempo de contracción de la fibra fue de tc = 1s a una tempe-ratura ambiente de 20◦C. Este bucle de histéresis para fibras de NiTi por lo general varía entre los 20 y 50◦C. Funding Information: Empleando el modelo cinemático en (1) para el mecanis-mo de rotación mostrado en la Figura 1c, es posible obtener el movimiento angular de la articulación θi en función del incre-mento de la fuerza de contracción de la fibra (ε˙), el radio de la articulación (rj), y la longitud inicial de la fibra SMA en estado de reposo (lsma,). Esta relación geométrica equivale a: Funding Information: Los Autores agradecen la colaboración e información brin-dada en lo referente al estudio biológico de murciélagos por parte del grupo de Mecánica de Fluidos de la Universidad de Brown, USA, en especial a su director el Prof. Kenny Breuer, PhD, y a la Prof. Sharon Swartz, PhD, directora del Swartz Lab, Departamento de Ecología y Biología Evolutiva de Brown.

PY - 2011

Y1 - 2011

N2 - The smart muscles are metal alloys that exhibit a property known as the Shape Memory Effect (SME). These materials are composed by an uniform crystal structure that allows the metal alloy to strain as a function of its transition temperature. They are so-called smart materials because the property of recovering their initial configuration after receiving a thermal stimulus. This article presents the use of a smart muscle actuator applied to a bio-inspired micro aerial bat-like robot. These flying mammals have developed powerful muscles that extend along the bone structure of their wings, providing an amazing level of maneuverability. To mimic that kind of morphing wings using an artificial counterpart requires the analysis of new actuation technologies, addressing issues such as the modeling and control that ensure the applicability of this smart actuators composed by Shape Memory Alloys (SMA).

AB - The smart muscles are metal alloys that exhibit a property known as the Shape Memory Effect (SME). These materials are composed by an uniform crystal structure that allows the metal alloy to strain as a function of its transition temperature. They are so-called smart materials because the property of recovering their initial configuration after receiving a thermal stimulus. This article presents the use of a smart muscle actuator applied to a bio-inspired micro aerial bat-like robot. These flying mammals have developed powerful muscles that extend along the bone structure of their wings, providing an amazing level of maneuverability. To mimic that kind of morphing wings using an artificial counterpart requires the analysis of new actuation technologies, addressing issues such as the modeling and control that ensure the applicability of this smart actuators composed by Shape Memory Alloys (SMA).

KW - Bio-inspired robots

KW - Morphing wings

KW - Shape Memory Alloys (SMAs)

UR - https://www.scopus.com/pages/publications/80054914221

U2 - 10.1016/j.riai.2011.09.005

DO - 10.1016/j.riai.2011.09.005

M3 - Article

AN - SCOPUS:80054914221

SN - 1697-7912

VL - 8

SP - 385

EP - 396

JO - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

JF - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

IS - 4

ER -

Bio-inspired robots with smart muscles: Modeling, control and actuation

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Keywords

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