Deployable Robotic Structures via Passive Rigidity on A Soft, Growing Robot

Francesco Fuentes, Laura H. Blumenschein
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Abstract

Deployable and reconfigurable structures use shape-changing designs to transform between different forms and create usable structures, often from small initial packages. While these structures create reliable transformations, the exact shapes must be defined at design and manufacturing time. However, many applications in unstructured environments would benefit from deployable structures that can adjust to the circumstances of the application on demand. To address this need for autonomous behavior, we propose deployable robotic structures, combining soft shape-changing robots with passive and permanent stiffening. The specific implementation in this paper uses chemical curing capable of creating stiffness change at arbitrary locations along a soft growing robot without impeding the function of the robot or requiring a continuous supply of energy to maintain its rigidity. In structural testing, the application of this method is able to drastically increase load resistances axially by an average of 64 N and transversely by an average of 2.18 Nm. Finally, two demonstrations are performed, which show how this combination of soft growing robot and permanent stiffening can increase the structure's carrying capacity and expand the robot's navigational capabilities, showing the potential of deployable robotic structures.
柔性生长机器人的被动刚性可展开机器人结构
可部署和可重构结构使用形状变化设计在不同的形式之间转换,并创建可用的结构,通常从小的初始包。虽然这些结构创建可靠的转换,但必须在设计和制造时定义精确的形状。然而,非结构化环境中的许多应用程序将受益于可部署的结构,这些结构可以根据需要调整应用程序的环境。为了满足这种自主行为的需求,我们提出了可展开的机器人结构,将柔性变形机器人与被动和永久硬化相结合。本文的具体实现使用化学固化,能够在软生长机器人的任意位置产生刚度变化,而不妨碍机器人的功能或需要连续的能量供应来保持其刚度。在结构测试中,应用该方法可以显著增加轴向的平均载荷阻力64 N,横向的平均载荷阻力为2.18 Nm。最后,进行了两个演示,展示了软生长机器人和永久加强的结合如何提高结构的承载能力和扩展机器人的导航能力,展示了可展开机器人结构的潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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