{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T14:02:12Z","timestamp":1784124132753,"version":"3.55.0"},"reference-count":21,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2024,5,7]],"date-time":"2024-05-07T00:00:00Z","timestamp":1715040000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,5,7]],"date-time":"2024-05-07T00:00:00Z","timestamp":1715040000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci Rep"],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>During takeoff and landing, birds bounce and grab with their legs and feet. In this paper,the lower limb structure of the bionic bird is designed with reference to the function of jumping and grasping, and the PID algorithm based on the development module of stm32 development board is used to speed control the lower limb driving element, so that the motor and the bishaft steering gear move with the rate change of sine wave. According to the speed of grasping response time and the size of grasping force, the structure of the bionic bird paw is designed. Based on the photosensitive sensor fixed in the geometric center of the foot, the grasping action of the lower limb mechanism is intelligently controlled. Finally, the kinematic verification of the lower limb structure is carried out by ADAMS. Experiments show that the foot structure with four toes and three toes is more conducive to maintaining the stability of the body while realizing the fast grasping function. In addition, it can effectively improve the push-lift ratio of the bionic ornithopter by adjusting the sinusoidal waveform rate of the motor speed.<\/jats:p>","DOI":"10.1038\/s41598-024-61285-y","type":"journal-article","created":{"date-parts":[[2024,5,7]],"date-time":"2024-05-07T03:01:54Z","timestamp":1715050914000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A bionic bird jumping grasping structure design based on stm32 development board control"],"prefix":"10.1038","volume":"14","author":[{"given":"Chunpeng","family":"Zhang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weiping","family":"Shao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongping","family":"Hao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,5,7]]},"reference":[{"key":"61285_CR1","unstructured":"Ma, D., Song, B., Xuan, J., Nian, P. Research progress of autonomous take-off and landing Technology of bird-like ornithopter. J. Astronaut. 269\u2013270 (2021)."},{"key":"61285_CR2","unstructured":"Zhang, Y., Li, Z., Tian, X. A preliminary analysis on the length ratio and mechanism of skeletal assemblage of hindlimb of birds. Sichuan Zool. 1\u20134 (2008)."},{"key":"61285_CR3","unstructured":"Ding, M., Zhao, Q., Ma, S., Liu, Z., Zhang, M., He, G. Research Progress of Bionic Micro-flapping wing Aircraft. J. Ordnance Equip. Eng. 4\u20137 (2023)."},{"key":"61285_CR4","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0199662","author":"KE Crandell","year":"2018","unstructured":"Crandell, K. E., Smith, A. F., Crino, O. L. & Tobalske, B. W. Coping with compliance during take-off and landing in The diamond dove (Geopelia cuneata). PLOS ONE https:\/\/doi.org\/10.1371\/journal.pone.0199662 (2018).","journal-title":"PLOS ONE"},{"key":"61285_CR5","first-page":"1","volume-title":"A Flapping Wing Flight Inspired by Biology Conceptual Design of Spring Mechanism of Actuator","author":"M Dongfu","year":"2022","unstructured":"Dongfu, M., Bifeng, S., Dong, X. & Jianlin, X. A Flapping Wing Flight Inspired by Biology Conceptual Design of Spring Mechanism of Actuator 1\u20134 (Northwestern Polytechnical University, 2022)."},{"key":"61285_CR6","first-page":"70","volume-title":"Research on the Preparation of Conductive Polypyrroleand its Application in Actuator","author":"Y Jintao","year":"2021","unstructured":"Jintao, Y. Research on the Preparation of Conductive Polypyrroleand its Application in Actuator 70\u201374 (Shenyang Ligong University, 2021)."},{"key":"61285_CR7","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-022-35356-5","author":"R Zufferey","year":"2022","unstructured":"Zufferey, R. et al. How ornithopters can perch autonomously on a branch. Nat. Commun. https:\/\/doi.org\/10.1038\/s41467-022-35356-5 (2022).","journal-title":"Nat. Commun."},{"key":"61285_CR8","doi-asserted-by":"publisher","DOI":"10.1115\/1.4044416","author":"PM Nadan","year":"2019","unstructured":"Nadan, P. M. et al. A bird-inspired perching landing gear system. ASME J. Mech. Robot. https:\/\/doi.org\/10.1115\/1.4044416 (2019).","journal-title":"ASME J. Mech. Robot."},{"key":"61285_CR9","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abj7562","author":"WRT Roderick","year":"2021","unstructured":"Roderick, W. R. T., Cutkosky, M. R. & Lentink, D. Bird-inspired dynamic gasping and perching in arboreal environments. Sci. Robot. https:\/\/doi.org\/10.1126\/scirobotics.abj7562 (2021).","journal-title":"Sci. Robot."},{"key":"61285_CR10","first-page":"48","volume-title":"Research on Design and Control Method of Multi-Configuration Bionic Elastic Drive Joint","author":"Z Xiangyu","year":"2021","unstructured":"Xiangyu, Z. Research on Design and Control Method of Multi-Configuration Bionic Elastic Drive Joint 48\u201350 (University of Electronic Science and Technology of China, 2021)."},{"key":"61285_CR11","first-page":"6","volume-title":"Structure Optimization and Motion Simulation of locust Jumping Robot at Take-off Stage","author":"P Gu","year":"2021","unstructured":"Gu, P. Structure Optimization and Motion Simulation of locust Jumping Robot at Take-off Stage 6\u20137 (Zhejiang University of Science and Technology, 2021)."},{"key":"61285_CR12","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aafff5","author":"NT Truong","year":"2019","unstructured":"Truong, N. T., Phan, H. V. & Park, H. C. Design and demonstration of a bio-inspired flapping-wing-assisted jumping robot. Bioinspir. Biomim. https:\/\/doi.org\/10.1088\/1748-3190\/aafff5 (2019).","journal-title":"Bioinspir. Biomim."},{"key":"61285_CR13","first-page":"2","volume-title":"A Bio-inspiredUVA Leg-Foot Mechanism for Landing, Grasping and Perching Tasks","author":"P Xie","year":"2015","unstructured":"Xie, P., Ma, O., Zhao, L. & Zhang, Z. A Bio-inspiredUVA Leg-Foot Mechanism for Landing, Grasping and Perching Tasks 2\u20134 (AIAA SciTech, 2015)."},{"key":"61285_CR14","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1016\/j.jtbi.2013.09.012","volume":"341","author":"S Jade","year":"2014","unstructured":"Jade, S. et al. Finite element analysis of a femur to deconstruct the paradox of bone curvature. J. Theor. Biol. 341, 53\u201363 (2014).","journal-title":"J. Theor. Biol."},{"key":"61285_CR15","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1016\/j.jtbi.2016.07.019","volume":"407","author":"N Milne","year":"2016","unstructured":"Milne, N. Curved bones: An adaptation to habitual loading. J. Theor. Biol. 407, 18\u201324 (2016).","journal-title":"J. Theor. Biol."},{"key":"61285_CR16","doi-asserted-by":"publisher","DOI":"10.7717\/peerj.3100","author":"K McCabe","year":"2017","unstructured":"McCabe, K., Henderson, K. & Pantinople, J. Curvature reduces bending strains in the quokka femur. PeerJ https:\/\/doi.org\/10.7717\/peerj.3100 (2017).","journal-title":"PeerJ"},{"key":"61285_CR17","doi-asserted-by":"publisher","DOI":"10.7717\/peerj.3229","author":"K Henderson","year":"2017","unstructured":"Henderson, K. et al. Forelimb bone curvature in terrestrial and arboreal mammals. PeerJ https:\/\/doi.org\/10.7717\/peerj.3229 (2017).","journal-title":"PeerJ"},{"issue":"3","key":"61285_CR18","doi-asserted-by":"publisher","first-page":"897","DOI":"10.1007\/s10914-021-09566-5","volume":"28","author":"N Milne","year":"2021","unstructured":"Milne, N. & Granatosky, M. C. Ulna curvature in arboreal and terrestrial primates. J. Mamm. Evol. 28(3), 897\u2013909 (2021).","journal-title":"J. Mamm. Evol."},{"key":"61285_CR19","first-page":"40","volume-title":"Design of Autonomous Flight Control System for Bionic Flapping Wing Flying Robot","author":"X Mu","year":"2020","unstructured":"Mu, X. Design of Autonomous Flight Control System for Bionic Flapping Wing Flying Robot 40\u201342 (University of Science and Technology Beijing, 2020)."},{"key":"61285_CR20","first-page":"35","volume-title":"Control System Design of Bionic Flap-wing Aircraft Driven by Steering Engine","author":"W Shuangshuang","year":"2022","unstructured":"Shuangshuang, W. Control System Design of Bionic Flap-wing Aircraft Driven by Steering Engine 35\u201342 (Hangzhou Dianzi University, 2022)."},{"key":"61285_CR21","first-page":"63","volume-title":"Design and Research on Control System of Bionic Flapping Wing Flying Robot Driven by Steering Engine","author":"H Haifeng","year":"2023","unstructured":"Haifeng, H. Design and Research on Control System of Bionic Flapping Wing Flying Robot Driven by Steering Engine 63\u201367 (University of Science and Technology Beijing, 2023)."}],"container-title":["Scientific Reports"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.nature.com\/articles\/s41598-024-61285-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-024-61285-y","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-024-61285-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,12,16]],"date-time":"2024-12-16T06:06:09Z","timestamp":1734329169000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41598-024-61285-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,7]]},"references-count":21,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2024,12]]}},"alternative-id":["61285"],"URL":"https:\/\/doi.org\/10.1038\/s41598-024-61285-y","relation":{"has-preprint":[{"id-type":"doi","id":"10.21203\/rs.3.rs-3363414\/v1","asserted-by":"object"}]},"ISSN":["2045-2322"],"issn-type":[{"value":"2045-2322","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,5,7]]},"assertion":[{"value":"17 September 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 May 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 May 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The authors declare no competing interests.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"10435"}}