Singh K, Singh K, Son LH, Aziz A (2018) Congestion control in wireless sensor networks by hybrid multi-objective optimization algorithm. Comput Netw 138:90–107 Marchese, A. D., Katzschmann, R. K. & Rus, D. A recipe for soft fluidic elastomer robots. Soft Robotics 1, 7–25, https://doi.org/10.1089/soro.2014.0022 (2015). Considering that the multi-balloon profiling control needs to meet the shortest time and the highest copying accuracy, the balloon multi-objective optimization control model can be transformed into the following model [ 21]: Dirigible: A dirigible has a rigid frame and a semi-rigid envelope. Dirigibles are smaller than blimps and are typically used for military and scientific applications. 2) Airplane robots

balloon robot using time-state Trajectory generation for balloon robot using time-state

Wang, K., Ge, Y. & Jin, X. A micro soft robot using inner air transferring for colonoscopy. In 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1556–1561, https://doi.org/10.1109/ROBIO.2013.6739688 (2013). Another interesting point is that the slopes are not symmetric when the pelvis moves up and down and implies BALLU’s unique walking dynamics. It comes from the fact that the velocity in X-direction periodically goes up and down. This behavior becomes more obvious later in the hardware test, and the velocity even goes down to the negative. The difference is due to the reality gap including the calibration of the knee joint’s initial position, errors in the mass distribution, and the approximation error of drag force. The corresponding phase plot is shown in Figures 8E,F. Similarly, as BALLU starts from rest, we can observe that the general circular shape of the limit cycle starts small in the earlier state ( Figure 8E) but gradually expands until it converges in the latter stage ( Figure 8F). This behavior is in parallel with that seen in previous works Ahn and Hong, 2020. Gliders are a type of flying robot that does not have any motors or engines. Instead, gliders rely on the wind or other forms of propulsion, such as being launched from a catapult, to stay in the air. Gliders are typically used for leisure and sporting activities, but can also be used for military applications, such as surveillance.When unexpected changes are given to the normal condition, it was able to observe the controller trying to overcome in the same way that the experts teleoperated, which is analyzed in Section 3.

Robo Kombat Balloon Puncher - ALDI UK

As a second modification, two unachievable velocities were commanded. When the commanded velocity is too low ( Figures 9G,H), it can be observed that the controller takes tiny steps. As a result, the two feet become closer and the lines connecting each foot and the pelvis get towards the vertical so to minimize the forward force. It can be interpreted that the controller tries to take the minimum length of single support phases not to increase speed (Section 3.3.2). As the controller drives the body rather upward, the average height is higher than the nominal condition. Contrarily, the controller takes big steps when the commanded velocity is too high ( Figures 9I,J). It is to take single support phases to catch up with the high commanded velocity. Since the controller takes single support phases as much as it can, the average body height is lower than that under the nominal condition. 6.3 Hardware Test Rus, D. & Tolley, M. T. Design, fabrication and control of soft robots. Nature 521, 467–475, https://doi.org/10.1038/nature14543 (2015). By adopting helium balloons and simplifying bipedal locomotion, BALLU is designed to be affordable and lightweight, and these characteristics allow BALLU to be deployed to real-world and service in close proximity to humans. However, the complexity due to aerodynamics and limited actuation introduces another challenge, and it necessitates a nonconventional walking controller.

5 Experiment

Tavana M, Li ZJ, Mobin M (2016) Multi-objective control chart design optimization using NSGA-III and MOPSO enhanced with DEA and TOPSIS. Expert Syst Appl 50:17–39 Miyamae H, Hori K, Uchida M (2021) Control system using time-state control form for balloon robot. IEE J Trans Electr Electron Eng 16:412–418 What is just as important as buoyancy for BALLU is a drag. Because the robot is lightweight yet the body takes a large portion, drag force plays a nontrivial role in BALLU’s orientation. Consequently, the drag forces for the transitional and rotational directions with the robot’s X, Y, and Z-axes were calculated using computational fluid dynamics software. Because the lateral distance between two feet keeps the robot from rotating in the roll direction, only the rotations in the pitch and yaw direction are taken as the domain variables for the computation. Considering the rate of change in the pitch and yaw directions that BALLU normally takes, the drag force was computed over ±40deg for the pitch and ±5deg for the yaw angle with the unit speed. Franchetti, M. & Kress, C. An economic analysis comparing the cost feasibility of replacing injection molding processes with emerging additive manufacturing techniques. The International Journal of Advanced Manufacturing Technology 88, 2573–2579, https://doi.org/10.1007/s00170-016-8968-7 (2017). While these platforms have shown remarkable progress in technology, essential yet often overlooked aspects that are contributing to their full deployment in close proximity to humans are safety and cost. When they malfunction, the heavyweight and powerful actuation methods could act as a potential cause of serious damage to its surrounding environments and even threaten human lives. In the context of service robots, such robots’ capacity might be redundant for common needs in everyday life but also dangerous.

Balloon robot walks across room at tech event - ABC News

Rigid-wing glider: A rigid-wing glider is a glider with wings that are rigidly attached to the main body of the glider. Rigid-wing gliders are the most common type of glider and are typically used for leisure and sporting activities. Single-rotor drone: A single-rotor drone is a drone with only one rotor. They are generally larger than other drones. Plus, they use gas engines instead of batteries and can lift some decent weights.

Supplementary Material

Radio-based indoor GPS helps to locate each BionicSwift unit so that each has spatial awareness and can fly in a coordinated pattern. The setup involves a few radio modules mounted in a given space, and each bird has a radio marker that sends signals to the bases. The balloon, when activated, adapts its shape to the colonic haustral fold producing an anchorage force ( F A) essential for the inchworm locomotion. This force has 2 major components: Coulomb friction ( F C) and marginal resistance ( F M). The Coulomb friction is related to the force of the balloon against the colonic wall ( F B) and the coefficient of friction μ. This force includes also the weight of the robot ( F R) although, because of its light weight (10 g), this force is negligible compared to F B. The F C can be low because of the slippery colonic mucosa surface. The marginal resistance is related to the longitudinal deformation of the colonic wall.