Hostname: page-component-6bf8c574d5-b4m5d Total loading time: 0 Render date: 2025-02-16T13:53:08.489Z Has data issue: false hasContentIssue false
  • English
  • Français

Research status and development trend of frog-inspired robots

Published online by Cambridge University Press:  05 April 2023

Shuqi Wang Open the ORCID record for Shuqi Wang [Opens in a new window] ,
Jizhuang Fan  and
Gangfeng Liu
Shuqi Wang
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Jizhuang Fan
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Gangfeng Liu*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

The frog-inspired robots with amphibious locomotion ability have greatest application prospects and practical value in the fields of resource exploration and environmental reconnaissance. Although frog-inspired robots have been of interest over many years, research on frog-inspired amphibious robots is still in its infancy. Since the locomotion mechanism is the basis for the research of frog-inspired amphibious robots, the research methods of the single motion mechanism of frogs are firstly inductive analyzed, and a reference scheme is proposed to inspire the research on the amphibious motion mechanism. Then, we collect and introduce a systematic discussion of the research status of frog-inspired robots according to the locomotion mode. The characteristics of the robots are analyzed from the aspects of design concept, structural characteristics, driving method, and motion performance. Finally, the technical challenges faced by the research on the frog-inspired robots are analyzed, and the development trend is predicted. The authors hope that this study can provide an informative reference for future research in the direction of frog-inspired amphibious robot.

Keywords

frog-inspired robotamphibious locomotionmotion mechanismactuation method
Type
Review Article
Information
Robotica , Volume 41 , Issue 7 , July 2023 , pp. 2228 - 2248
Copyright
© The Author(s), 2023. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Xing, H., Guo, S., Shi, L., He, Y., Su, S., Chen, Z. and Hou, X., “Hybrid locomotion evaluation for a novel amphibious spherical robot,” Appl. Sci. 8(2), 156 (2018).CrossRefGoogle Scholar
Bai, X., Shang, J., Luo, Z., Jiang, T. and Yin, Q., “Development of amphibious biomimetic robots,” J. Zhejiang Univ.-Sci. A 23(3), 157–187 (2022).CrossRefGoogle Scholar
Picardi, G., Chellapurath, M., Iacoponi, S., Stefanni, S., Laschi, C. and Calisti, M., “Bioinspired underwater legged robot for seabed exploration with low environmental disturbance,” Sci. Robot. 5(42), eaaz1012 (2020).CrossRefGoogle ScholarPubMed
Xing, H., Liwei, S., Xihuan, H., Liu, Y., Hu, Y., Xia, D., Li, Z. and Guo, S., “Design, modeling and control of a miniature bio-inspired amphibious spherical robot,” Mechatronics 77(1), 102574 (2021).CrossRefGoogle Scholar
Maoxun, L., Shuxiang, G., Hirata, H. and Ishihara, H., “A roller-skating/walking mode-based amphibious robot,” Robot. Comput.-Integr. Manuf. 44(4), 17–29 (2017).Google Scholar
Yang, Y., Zhou, G., Jianqing, Z., Siyuan, C. and Design, M. F., Modeling and Control of a Novel Amphibious Robot with Dual-Swing-Legs Propulsion Mechanism, In: IEEE/RSJ International Conference on Intelligent Robots & Systems, IEEE (2015).CrossRefGoogle Scholar
Yaxin, L., Shuxiang, G. and Chunfeng, Y., “Preliminary concept of a novel spherical underwater robot,” Int. J. Mech. Autom. 5(1), 11–21 (2015).Google Scholar
Shiwu, Z., Youcheng, Z., Min, X., Liang, X., Liu, J. and AmphiHex-I, Y. J., “Locomotory performance in amphibious environments with specially designed transformable flipper legs,” IEEE/ASME Trans. Mech. 21(3), 1720–1731 (2016).Google Scholar
Yi, S., Shugen, M., Fujita, K., Yang, Y. and Pu, H.. Modeling the Rotational Paddling of an ePaddle-Based Amphibious Robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura (2012) pp. 610–615.Google Scholar
Meng, W., Xizhe, Z., Jizhuang, F. and Zhao, J., “Biological jumping mechanism analysis and modeling for frog robot,” J. Bionic Eng. 3, 10–17 (2008).Google Scholar
Hanna, G., Jon, W. and Barnes W.P., J., “Adhesion and detachment of the toe pads of tree frogs,” J. Exp. Biol. 155(1), 103–125 (1991).CrossRefGoogle Scholar
Smith, J. M., Barnes, W. J., Downie, J. R. and Ruxton, G. D., “Structural correlates of increased adhesive efficiency with adult size in the toe pads of hylid tree frogs,” J. Comp. Physiol. A 192(11), 1193–1204 (2006).CrossRefGoogle ScholarPubMed
Barnes, W. J., Goodwyn P.J., P., Nokhbatolfoghahai, M. and Gorb, S. N., “Elastic modulus of tree frog adhesive toe pads,” J. Comp. Physiol. A 197(10), 969–978 (2011).CrossRefGoogle ScholarPubMed
Zhang, Y., Wan, X., Xu, X., Teng, P. and Wang, S., “Recent progress of tree frog toe pads inspired wet adhesive materials,” Biosurf. Biotribol. 8, 279–289 (2022).CrossRefGoogle Scholar
Shi, Z., Tan, D., Liu, Q., Meng, F., Zhu, B. and Xue, L., “Tree frog-inspired nanopillar arrays for enhancement of adhesion and friction,” Biointerphases 16(2), 021001 (2021).CrossRefGoogle ScholarPubMed
Gillis, G. B., “The role of hind limb flexor muscles during swimming in the toad, Bufo marinus ,” Zoology 110(1), 28–40 (2007).CrossRefGoogle ScholarPubMed
Richards, C. T., “Kinematics and hydrodynamics analysis of swimming anurans reveals striking inter-specific differences in the mechanism for producing thrust,” J. Exp. Biol. 213(4), 621–634 (2010).CrossRefGoogle ScholarPubMed
Jizhuang, F., Shuqi, W., Qingguo, Y. and Zhu, Y., “Swimming performance of the frog-inspired soft robot,” Soft Robot. 7(5), 615–626 (2020).Google Scholar
Kargo, W. J., Nelson, F. and Rome, L. C., “Jumping in frogs: Assessing the design of the skeletal system by anatomically realistic modeling and forward dynamic simulation,” J. Exp. Biol. 205(12), 1683–1702 (2002).CrossRefGoogle ScholarPubMed
Azizi, E. and Roberts, T. J., Muscle Performance During Frog Jumping, In: Influence of Series Elasticity on Muscle Length-Tension Behavior. Annual Meeting of the Society for Integrative and Comparative Biology, (2009).Google Scholar
Nauwelaerts, S., “Propulsive impulse as a covarying performance measure in the comparison of the kinematics of swimming and jumping in frogs,” J. Exp. Biol 206(23), 4341–4351 (2003).CrossRefGoogle ScholarPubMed
Aerts, P. and Nauwelaerts, S., “Environmentally induced mechanical feedback in locomotion: Frog performance as a model,” J. Theor. Biol. 261(3), 372–378 (2009).CrossRefGoogle ScholarPubMed
Kecai, Z., Ting, T., Congbin, Z. and Guo, P., “A comparative study on the Microhyla skeletal system of three species of frogs in my country Amphibian: Microhylidae,” Sichuan Zool. 28, 234–240 (2009).Google Scholar
Jizhuang, F., Pengcheng, K. and Wei, Z., “Structural design of a frog-inspired swimming robot driven by pneumatic muscles,” J. Harbin Univ. Comm. (Natural Science Edition) 32(5), 516–520 (2016).Google Scholar
Shanyuanye, G., Reasearch on the Hopping Principle and Simulation of Bionic Frog Hopping Robot (Harbin Institute of Technology, Harbin, 2007).Google Scholar
Meng, W., Xizhe, Z. and Jie, Z., “Frog jumping trajectory acquisition method for biomimetic robots,” J. Beijing Univ. Posts Telecommun. 31(4), 37–41,52 (2008).Google Scholar
Wei, Z., Jizhuang, F., Yanhe, Z., Qiu, Y. and Zhao, J., “A method for mechanism analysis of frog swimming based on motion observation experiments,” Adv. Mech. Eng. 8, 1–13 (2014).Google Scholar
Yulong, Q., Research on Swimming Mechansim of the Frog and Mechanical Design of the Bionic Robot (Harbin Institute of Technology, Harbin, 2007).Google Scholar
Richards, C. T. and Clemente, C. J., “A bio-robotic platform for integrating internal and external mechanics during muscle-powered swimming,” Bioinspir. Biomim. 7(1), 016010 (2012).CrossRefGoogle ScholarPubMed
Nauwelaerts, S., “Propulsive force calculations in swimming frogs I. A momentum-impulse approach,” J. Exp. Biol. 208(8), 1435–1443 (2005).CrossRefGoogle Scholar
Stamhuis, E. J., “Propulsive force calculations in swimming frogs II. Application of a vortex ring model to DPIV data,” J. Exp. Biol. 208(Pt 8), 1445–1451 (2005).CrossRefGoogle ScholarPubMed
Johansson, L. C. and Lauder, G. V., “Hydrodynamics of surface swimming in leopard frogs (Rana pipiens),” J. Exp. Biol. 207(Pt 22), 3945–3958 (2004).CrossRefGoogle ScholarPubMed
Fan, J., Wei, Z., Yanhe, Z. and Zhao, J., “CFD-based self-propulsion simulation for frog swimming,” J. Mech. Med. Biol. 14(6), 1440012 (2014).CrossRefGoogle Scholar
Fan, J., Wei, Z., Bowen, Y. and Gangfeng, L., “Propulsive efficiency of frog swimming with different feet and swimming patterns,” Biol. Open 6(4), 503–510 (2017).Google Scholar
Chum, H., Felt, S., Garner, J. and Green, S., “Biology, behavior, and environmental enrichment for the captive African clawed frog (Xenopus spp),” Appl. Anim. Behav. Sci. 143(2-4), 150–156 (2013).CrossRefGoogle Scholar
Calow, L. J. and Alexander, R. M., “Mechanical analysis of a hind leg of a frog (Rana temporaria),” J. Zool. 171(3), 293–321 (2010).CrossRefGoogle Scholar
Moo, E. K., Peterson, D. R., Leonard, T. R., Kaya, M. and Herzog, W., “In vivo muscle force and muscle power during near-maximal frog jumps,” PLoS One 12(3), e0173415 (2017).CrossRefGoogle ScholarPubMed
Saboohi, M., Jamshidi, N. and Poursina, M., “A new dynamical modeling of xenopus laevis during fast swimming based on real kinematical and geometrical data,” J. Mech. Med. Biol. 16(3), 1650038 (2016).CrossRefGoogle Scholar
Richards, C. T., “The kinematic determinants of anuran swimming performance: An inverse and forward dynamics approach,” J. Exp. Biol. 211(Pt 19), 3181–94 (2008).CrossRefGoogle ScholarPubMed
Nauwelaerts, S. and Aerts, P., “Two distinct gait types in swimming frogs,” Proc. Zool. Soc. Lond. 258(2), 183–188 (2010).CrossRefGoogle Scholar
Marsh, R. L. and John-Alder, H. B., “Jumping performance of hylid frogs measured with high-speed cine film,” J. Exp. Biol. 188(1), 131–141 (1994).CrossRefGoogle ScholarPubMed
Pandey, J., Reddy, N. S., Ray, R. and Shome, S. N., Biological Swimming Mechanism Analysis and Design of Robotic Frog, In: 2013 IEEE International Conference on Mechatronics and Automation, IEEE (2013) pp. 1726–1731.Google Scholar
Sakai, R., Shimizu, M., Aonuma, H. and Hosoda, K., Swimming Locomotion of Xenopus laevis Robot, In: Conference on Biomimetic and Biohybrid Systems, Springer International Publishing (2014) pp. 420–422.Google Scholar
Yucheng, T., Lei, Q., Xiaoning, L., Chew, C. M. and Zhu, J., A Frog-Inspired Swimming Robot Based on Dielectric Elastomer Actuators, In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE (2017) pp. 2403–2408.Google Scholar
Gul, J. Z., Kim, K. H., Lim, J. H., Doh, Y. H. and Choi, K. H., FSI Modeling of Frog Inspired Soft Robot Embedded with ALD Encapsulated Flex Sensor for Underwater Synchronous Swim, In: 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), IEEE (2017) pp. 255–259.Google Scholar
Jizhunag, F., Pengcheng, K., Bowen, Y., Zhang, W., Liu, Y. and Liu, G., Optimization of a Frog Inspired Robot Powered by Pneumatic Muscles, In: 2017 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE (2017) pp. 602–607.Google Scholar
Jizhuang, F., Wei, Z., Pengcheng, K., Cai, H. G. and Liu, G. F., “Design and dynamic model of a frog-inspired swimming robot powered by pneumatic muscles,” Chin. J. Mech. Eng. 30, 1–10 (2017).Google Scholar
Jizhuang, F., Gangfeng, L., Huan, W., Zhang, W. and Zhu, Y., Design and Control of a Frog-Inspired Swimming Leg Powered by Pneumatic Muscle, In: ASME Conference on Information Storage & Processing Systems, Santa Clara, CA, (2016) pp. 1123–1132.Google Scholar
Jizhuang, F., Bowen, Y., Du, Q. and He, Z., Joint Design and Position Servo Control of Frog Inspired Robot Based on Pneumatic Muscle and Reset Spring, In: 2018 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE (2018) pp. 1914–1919.Google Scholar
Jizhuang, F., Qingguo, Y., Bowen, Y. and Zhu, Y., “Development of an articulated pneumatic actuator for a software frog-inspired swimming robot,” Robot 40(005), 578–586 (2018).Google Scholar
Burdick, J. and Fiorini, P., “Minimalist jumping robots for celestial exploration,” Int. J. Robot. Res. 7(8), 653–666 (2003).CrossRefGoogle Scholar
Reddy, N. S., Ray, R. and Shome, S. N., Modeling and Simulation of a Jumping Frog Robot, In: International Conference on Mechatronics & Automation, IEEE (2011).CrossRefGoogle Scholar
Ahn, J., Park, J., Kim, K. S. and Kim, S., Frog-Inspired Jumping Robot for Overcoming High Obstacles, In: International Symposium on Robotics, IEEE (2014) pp. 1–4.Google Scholar
Igarashi, A. and Mikami, S., Frog-Like Robot with Jump and Walk Mechanism for Locomotion on Rough Terrain — Designing Legs with Biarticular Muscles and Slide-Lock Mechanism, In: International Conference on Control Automation Robotics & Vision, IEEE (2014) pp. 1788–1791.Google Scholar
Astley, H. C. and Roberts, T. J., “The mechanics of elastic loading and recoil in anuran jumping,” J. Exp. Biol. 217(24), 4372–4378 (2014).CrossRefGoogle ScholarPubMed
Tao, L., “Virtual prototype modeling of a frog-inspired jumping robot,” J. Lanzhou Inst. Technol. 21, 58–60,75 (2014).Google Scholar
Xiguang, H. and Zuquan, H., “Kinematics analysis of frog-inspired robot,” Mach. Des., 2012(3), 26–27+43 (2012).Google Scholar
Di, J., Zhang, Q., Zhao, Y., Zhao, Q. and Liu, F., Structure Design and Simulation of a Bionic Continuous Hopping Robot, In: 4th National Conference on Electrical, Electronics and Computer Engineering (NCEECE), (2016) pp. 860–864.Google Scholar
Xiangquan, T., Research on the Design of Frog-Inspired Robot and its Movement Mechanism in the Take-Off Phase (Harbin Engineering University, Harbin, 2011).Google Scholar
Chenjun, L., Research on Frog-Inspired Robot Design and Intermittent Jumping Trajectory Planning (Harbin Engineering University, Harbin, 2016).Google Scholar
Meng, W., Xizhe, Z., Jie, Z. and Hegao, C., “Design of a jumping machine leg,” J. Harbin Inst. Technol., (1), 69–73 (2010).Google Scholar
Xiangyu, Z., Jizhuang, F. and Hegao, C., “Design of the control system of the frog-inspired jumping robot,” Mach. Electron. 8, 64–67 (2011).Google Scholar
Wei, Z., Jizhuang, F., Jun, Z. and Hegao, C., Jumping Performance Analysis of a Frog-Inspired Robot Based on Trajectory Planning, In: IEEE International Conference on Information & Automation, IEEE (2013) pp. 174–178.Google Scholar
Wei, Z. and Jizhuang, F., Design of a Novel Frog-Inspired Hopping Leg, In: IEEE International Conference on Information & Automation, IEEE (2012) pp. 277–282.Google Scholar
Leitao, J., Wei, Z., Zhong, J., Jizhuang, F. and Meng, W., “Dynamic analysis of frog-inspired jumping robot,” J. Harbin Univ. Comm. (Natural Science Edition) 29, 694–698 (2013).Google Scholar
Zhong, J., Fan, J., Zhu, Y., Zhao, J. and Zhai, W., “One nonlinear PID control to improve the control performance of a manipulator actuated by a pneumatic muscle actuator,” Adv. Mech. Eng. 6, 1–19 (2014).CrossRefGoogle Scholar
Wenbo, F., Jizhuang, F. and Jie, Z., “Dynamic analysis of pneumatic frog jumping robot,” Mach. Electron. 11, 72–76 (2015).Google Scholar
Zhihai, F., Research on Jumping Robot Based on Skeletal Structure of the Frog (Harbin Institute of Technology, Harbin, 2016).Google Scholar
Keithly, D., Whitehead, J., Voinea, A., Horna, D., Hollenberg, S., Peck, M., Pikul, J. and Shepherd, R. F., “A cephalopod-inspired combustion powered hydro-jet engine using soft actuators,” Extreme Mech. Lett. 20, 1–8 (2018).CrossRefGoogle Scholar
Bartlett, N. W., Tolley, M. T., Overvelde, J. T. B, Weaver, J. C., Mosadegh, B., Bertoldi, K., Whitesides, G. M. and Wood, R. J., “A 3D-printed, functionally graded soft robot powered by combustion,” Science 349(6244), 161–165 (2015).CrossRefGoogle ScholarPubMed
Loepfe, M., Schumacher, C. M., Lustenberger, U. B. and Stark, W. J., “An untethered, jumping roly-poly soft robot driven by combustion,” Soft Robot. 2(1), 33–41 (2015).CrossRefGoogle Scholar
Zhijian, R., Hesheng, W. and Weidong, C.. Frog-Inspired Hind Limb for Jumping Robots. In: IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE (2017) pp. 605–610.Google Scholar
Ho, T. and Lee, S., “Design and Implementation of an SMA-Actuated Jumping Robot,” In: IEEE, IEEE (2010) pp. 3530–3535.Google Scholar
Xu, Y., Research on Key Technology of Soft Frog-Inspired Jumping Robot Based on Combustion and Explosion Drive (Harbin Institute of Technology, Harbin, 2019).Google Scholar
Jiaming, Q., Research on Frog-Inspired Soft Jumping Robot Based on Combustion and Explosion Drive (Harbin Institute of Technology, Harbin, 2020).Google Scholar
Yihao, R. and Liang, Z., “Mechanical analysis and trajectory optimization of frog-inspired robot jumping,” Q. Mech. 2, 115–121 (2017).Google Scholar
Shenghai, H., Kunxiu, D., Lin, L. and Hong, Z., Motion Planning of Launching Stage for Multi-joint Jumping Robot, In: Proceedings of the 3rd International Conference on Mechanical Engineering and Mechanics, Suzhou, China (2011) pp. 290–294.Google Scholar
Yang, L., Trajectory Planning and Landing Stability Analysis of Frog-Inspired Jumping Robot (Zhejiang Sci-Tech University, Zhejiang, 2018).Google Scholar
Meng, W., Xizhe, Z., Fan, J. and Jie, Z., “Research on kinematics of frog-inspired jumping robot,” J. Syst. Simul. 22, 102–106 (2010).Google Scholar
Jizhuang, F., Yulong, Q., Zhang, W. and Huan, W., “Dynamic analysis of frog-inspired swimming robot,” Mach. Des. Manuf. 1, 234–237 (2015).Google Scholar
Song, W., Minghai, Y., Huang, J., Donghai, W. and Yigang, L., “Structural design and simulation analysis of leapfrog robot,” Mach. Electron. 35(9), 68–71 (2017).Google Scholar
Jizhuang, F., Yulong, Q., Zhang, W. and Huan, W., “Mechanism design of frog-inspired swimming robot,” Robot 37(2), 9 (2015).Google Scholar
Yicong, G., Design and Research of Frog-Inspired Jumping Robot (Dalian Jiaotong University, Dalian, 2020).Google Scholar
Jizhuang, F., Qingguo, Y., Xu, Y. and Qilong, D., “Design of a frog-inspired swimming software robot control system,” J. Harbin Univ. Comm.: Nat. Sci. Ed. 34, 686–691 (2018).Google Scholar
Jia, Y., Design and Experiment of Frog-Inspired Robot (North China University of Technology, Beijing, 2017).Google Scholar
Yi, Y., Geng, Z., Jianqing, Z., Siyuan, C. and Mengyin, F. Design, Modeling and Control of a Novel Amphibious Robot with Dual-Swing-Legs Propulsion Mechanism. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE (2015) pp. 559–566.Google Scholar