2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)最新文献

FEM Based Workspace Estimation for Soft Robots: a Forward-Backward Interval Analysis Approach 基于有限元法的软机器人工作空间估计:一种前后向区间分析方法

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116002

Walid Amehri, G. Zheng, A. Kruszewski

引用次数: 3

Optimization of the Initial Deformed Shape of a Circular Elastic Jumping Robot 圆形弹性跳跃机器人初始变形形状的优化

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116037

Takahiro Matsuno, S. Hirai

引用次数: 0

A systematic approach to creating terrain-capable hybrid soft/hard myriapod robots 一种系统的方法来创造能够适应地形的软/硬混合多足机器人

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116022

Yasemin Ozkan-Aydin, Baxi Chong, Enes Aydin, D. Goldman

{"title":"A systematic approach to creating terrain-capable hybrid soft/hard myriapod robots","authors":"Yasemin Ozkan-Aydin, Baxi Chong, Enes Aydin, D. Goldman","doi":"10.1109/RoboSoft48309.2020.9116022","DOIUrl":"https://doi.org/10.1109/RoboSoft48309.2020.9116022","url":null,"abstract":"Multi-legged animals (myriapods) such as centipedes move effectively in diverse terrain; flexible bodies and limbs allow them to morphologically adapt to the environment. To examine how the variation in body/limb forms of myriapods affect the mechanics and performance of terrestrial locomotion, we built a low-cost multi-legged hybrid (containing soft and hard components) robot which has 8 segments, each with two limbs driven out of phase. The back elements and limb pairs are driven by servo motors. Building on new theoretical results from geometric mechanics applied to myriapods, we systematically tested gait patterns with different leg contacts and body undulation on various laboratory and natural environments including flat and uneven rigid ground, stairs, and unstructured natural terrain (leaf litter, grass). On flat ground, the robot with rigid components moved in the same way as the theoretically predicted gaits. As the complexity of the environment increased, the robot’s performance suffered (and theoretical predictions became unavailable) due to deleterious interactions like jamming of limbs. However, adding flexibility into the robot’s body parts (legs, body joints etc.) improved the open-loop locomotion performance (often to levels of that on flat ground) by either reducing the effects of environmental disturbances or increasing stability. Our findings show that in order to produce an agile, robust locomotive device, we need to understand the importance of body morphology and complex, dynamic interactions between an organism and its environment through systematic experiments in both the laboratory and natural environment.","PeriodicalId":121868,"journal":{"name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126929844","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 18

A Computational Design Framework for Pressure-driven Soft Robots through Nonlinear Topology Optimization 基于非线性拓扑优化的压力驱动软机器人计算设计框架

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116010

B. Caasenbrood, A. Pogromsky, H. Nijmeijer

{"title":"A Computational Design Framework for Pressure-driven Soft Robots through Nonlinear Topology Optimization","authors":"B. Caasenbrood, A. Pogromsky, H. Nijmeijer","doi":"10.1109/RoboSoft48309.2020.9116010","DOIUrl":"https://doi.org/10.1109/RoboSoft48309.2020.9116010","url":null,"abstract":"In this work, we present a novel framework for synthesizing the design of pressure-driven soft robots. Contrary to traditional design methods, a topology optimization scheme is employed to find the optimal soft robotic structure given user-defined requirements. To our knowledge, the combination of pressure-driven topology optimization and soft robotics is still unexplored. Two difficulties are related to this problem. First, pressure-based topology optimization is challenging since the adaptive topology changes the pneumatic load at each optimization step. To deal with this issue, we exploit the facial connectivity in polygonal meshes to efficiently simulate the physics involving pneumatic actuation in soft robotics. The second issue is describing the hyperelastic nature of soft materials. Here, nonlinear finite element is explored such that large deformations can be described accurately. Numerical investigation shows that the framework can produce meaningful and insight-full material layouts with little to no prior knowledge of soft robotic design. This framework does not only accelerates design convergence, but it could also extend to the development of new and unexplored soft robot morphologies.","PeriodicalId":121868,"journal":{"name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116544687","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 18

Soft Thermal Actuators with Embedded Liquid Metal Microdroplets for Improved Heat Management 软热致动器与嵌入式液态金属微滴改善热管理

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9115972

Xiaonan Huang, Zhijian Ren, C. Majidi

引用次数: 5

Analysis and optimization of fully foam-based capacitive sensors 全泡沫电容式传感器的分析与优化

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116014

M. Totaro, Irene Bernardeschi, Hongbo Wang, L. Beccai

引用次数: 6

Dynamic Modeling of a Hydrogel-based Continuum Robotic Arm with Experimental Validation 基于水凝胶的连续体机械臂动力学建模及实验验证

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116012

Azadeh Doroudchi, R. Khodambashi, Amir Salimi Lafmejani, Daniel M. Aukes, S. Berman

{"title":"Dynamic Modeling of a Hydrogel-based Continuum Robotic Arm with Experimental Validation","authors":"Azadeh Doroudchi, R. Khodambashi, Amir Salimi Lafmejani, Daniel M. Aukes, S. Berman","doi":"10.1109/RoboSoft48309.2020.9116012","DOIUrl":"https://doi.org/10.1109/RoboSoft48309.2020.9116012","url":null,"abstract":"Control of robots with soft actuators is still challenging due to the complexity of modeling actuator material dynamics in conjunction with the robot dynamics. In this paper, we introduce a 45-mm-long soft continuum robot with distributed local actuators in the form of cubes composed of a novel temperature-responsive hydrogel, each with an embedded Joule heater. We refer to these as soft voxel actuators (SVAs). We present a dynamical model of this hydrogel-based continuum robot based on Cosserat rod theory. We experimentally identify the relationship between step input voltages applied to the SVAs and their resulting force outputs. In addition, we identify other unknown parameters of the model using vibration tests with the robot. We then numerically solve the Cosserat model and compare simulations of the model to measurements of the robot’s tip displacement over time during open-loop control trials in which subsets of the SVAs are actuated. The normalized root-mean-square errors (NRMSEs) between the simulated and experimentally measured displacements are below 10%, which demonstrates the accuracy of the Cosserat model in describing the dynamics of the hydrogel-based continuum robot.","PeriodicalId":121868,"journal":{"name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129736438","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Cable-Driven Jamming of a Boundary Constrained Soft Robot 边界约束软机器人的索驱动干扰

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116042

Koki Tanaka, Mohammad Amin Karimi, Bruno-Pier Busque, Declan Mulroy, Qiyuan Zhou, R. Batra, A. Srivastava, H. Jaeger, M. Spenko

{"title":"Cable-Driven Jamming of a Boundary Constrained Soft Robot","authors":"Koki Tanaka, Mohammad Amin Karimi, Bruno-Pier Busque, Declan Mulroy, Qiyuan Zhou, R. Batra, A. Srivastava, H. Jaeger, M. Spenko","doi":"10.1109/RoboSoft48309.2020.9116042","DOIUrl":"https://doi.org/10.1109/RoboSoft48309.2020.9116042","url":null,"abstract":"Soft robots employ flexible and compliant materials to perform adaptive tasks and navigate uncertain environments. However, soft robots are often unable to achieve forces and precision on the order of rigid-bodied robots. In this paper, we propose a new class of mobile soft robots that can reversibly transition between compliant and stiff states without reconfiguration. The robot can passively conform or actively control its shape, stiffen in its current configuration to function as a rigid-bodied robot, then return to its flexible form. The robotic structure consists of passive granular material surrounded by an active membrane. The membrane is composed of interconnected robotic sub-units that can control the packing density of the granular material and exploit jamming behaviors by varying the length of the interconnecting cables. Each robotic sub-unit uses a differential drive system to achieve locomotion and self-reconfigurability. We present the robot design and perform a set of locomotion and object manipulation experiments to characterize the robot’s performance in soft and rigid states. We also introduce a simulation framework in which we model the jamming soft robot design and study the scalability of this class of robots. The proposed concept demonstrates the properties of both soft and rigid robots, and has the potential to bridge the gap between the two.","PeriodicalId":121868,"journal":{"name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130408517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

An Easy Use Auxiliary Arm: Design and Control of a Portable Continuum Manipulator for Enhanced Dexterity by Soft-Rigid Arms Collaboration 一种易于使用的辅助臂:一种基于软-刚性臂协同增强灵巧性的便携式连续机械臂的设计与控制

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116055

Bingbin Yu, S. Natarajan

{"title":"An Easy Use Auxiliary Arm: Design and Control of a Portable Continuum Manipulator for Enhanced Dexterity by Soft-Rigid Arms Collaboration","authors":"Bingbin Yu, S. Natarajan","doi":"10.1109/RoboSoft48309.2020.9116055","DOIUrl":"https://doi.org/10.1109/RoboSoft48309.2020.9116055","url":null,"abstract":"Continuum manipulator offers superior flexibility, deformability and adaptability to the environment, which makes it ideally suitable for safe interaction and for applications in confined spaces. Owning these advantages, the continuum manipulator gains increasing interests in the fields of surgical, underwater, inspection, etc. This paper introduces a novel continuum manipulator, which is designed as an independent and auxiliary modular for bringing extra dexterity and reachability to different rigid platforms. With the aim at precisely calculating the gripper pose of the manipulator, a probabilistic model-based approach is used, which learns a mapping among the actuator space and task space from experiments by using dynamic mixture of Gaussians. The learned model and the control approach are validated with the help of a 3D trajectory tracking system. Finally, to test the versatility and reliability of the manipulator, we mount the actuation base of the continuum manipulator to a rigid manipulator, which are then used to manipulate an object in a confined space. The results of the experiments show that the proposed continuum manipulator can be controlled effectively by using a learned probabilistic model and the dexterity and workspace of a robotic system could be enhanced significantly by soft-rigid arm collaboration.","PeriodicalId":121868,"journal":{"name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132790154","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A petal-array capacitive tactile sensor with micro-pin for robotic fingertip sensing 一种用于机器人指尖传感的带有微针的花瓣阵列电容触觉传感器

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2020-05-01 DOI: 10.1109/RoboSoft48309.2020.9116047

Bin Fang, Yang Chen, F. Sun, Dongchao Yang, Xu Zhang, Ziwei Xia, Huaping Liu

引用次数: 4