MORI-A CPS: 3D printed soft actuators with 4D assembly simulation

IF 0.8 Q4 ROBOTICS

Artificial Life and Robotics Pub Date : 2023-06-17 DOI:10.1007/s10015-023-00878-8

Shoma Abe, Jun Ogawa, Yosuke Watanabe, MD Nahin Islam Shiblee, Masaru Kawakami, Hidemitsu Furukawa

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引用次数: 0

Abstract

Soft modular robotics combines soft materials and modular mechanisms. We are developing a vacuum-driven actuator module, MORI-A, which combines a 3D-printed flexible parallel cross structure with a cube-shaped hollow silicone. The MORI-A module has five deformation modes: no deformation, uniform contraction, uniaxial contraction, flexion, and shear. By combining these modules, soft robots with a variety of deformabilities can be constructed. However, assembling MORI-A requires predicting the deformation from the posture and mode of the modules, making assembly difficult. To overcome this problem, this study aims to construct a system called “MORI-A CPS,” which can predict the motion of a soft robot composed of MORI-A modules by simply arranging cubes in a virtual space. This paper evaluates how well the motion of virtual MORI-A modules, defined as a combination of swelling and shrinking voxels, approximates real-world motion. Then, it shows that the deformations of virtual soft robots constructed via MORI-A CPS are similar to those of real robots.

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MORI-A CPS：具有4D装配模拟的3D打印软致动器

软模块化机器人结合了软材料和模块化机构。我们正在开发一种真空驱动执行器模块MORI-a，它将3D打印的柔性平行交叉结构与立方体中空硅胶相结合。MORI-A模块有五种变形模式：无变形、均匀收缩、单轴收缩、屈曲和剪切。通过组合这些模块，可以构建出具有各种变形能力的软机器人。然而，组装MORI-A需要从模块的姿态和模式预测变形，这使得组装变得困难。为了克服这个问题，本研究旨在构建一个名为“MORI-a CPS”的系统，该系统可以通过在虚拟空间中简单地排列立方体来预测由MORI-a模块组成的软机器人的运动。本文评估了虚拟MORI-A模块（定义为膨胀和收缩体素的组合）的运动在多大程度上近似于真实世界的运动。然后，通过MORI-A CPS构建的虚拟软机器人的变形与真实机器人的变形相似。

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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来源期刊

Artificial Life and Robotics ROBOTICS-

CiteScore

2.00

自引率

22.20%

发文量

101

期刊介绍： Artificial Life and Robotics is an international journal publishing original technical papers and authoritative state-of-the-art reviews on the development of new technologies concerning artificial life and robotics, especially computer-based simulation and hardware for the twenty-first century. This journal covers a broad multidisciplinary field, including areas such as artificial brain research, artificial intelligence, artificial life, artificial living, artificial mind research, brain science, chaos, cognitive science, complexity, computer graphics, evolutionary computations, fuzzy control, genetic algorithms, innovative computations, intelligent control and modelling, micromachines, micro-robot world cup soccer tournament, mobile vehicles, neural networks, neurocomputers, neurocomputing technologies and applications, robotics, robus virtual engineering, and virtual reality. Hardware-oriented submissions are particularly welcome. Publishing body: International Symposium on Artificial Life and RoboticsEditor-in-Chiei: Hiroshi Tanaka Hatanaka R Apartment 101, Hatanaka 8-7A, Ooaza-Hatanaka, Oita city, Oita, Japan 870-0856 ©International Symposium on Artificial Life and Robotics