2023 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第3页

Design and Additive Manufacturing of a Hedgehog-Inspired Soft Robot Companion 刺猬型软机器人伴侣的设计与增材制造

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121945

G. Hiramandala, T. Calais, Truman Stalin, A. Chooi, A. R. Plamootil MATHAI, S. Jain, Elgar Vikram Kanhere, P. V. y Alvarado

引用次数: 0

Shape and Tip Force Estimation of Concentric Tube Robots Based on Actuation Readings Alone 仅基于驱动读数的同心管机器人形状和尖端力估计

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121920

Abdulaziz Alkayas, Daniel Feliú Talegon, A. Mathew, D. C. Rucker, F. Renda

引用次数: 0

Mechanics of tubular meshes made of helical fibers and application to modeling McKibben artificial muscles 螺旋纤维管状网的力学及其在McKibben人造肌肉建模中的应用

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122020

Jacopo Quaglierini, M. Arroyo, A. DeSimone

{"title":"Mechanics of tubular meshes made of helical fibers and application to modeling McKibben artificial muscles","authors":"Jacopo Quaglierini, M. Arroyo, A. DeSimone","doi":"10.1109/RoboSoft55895.2023.10122020","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122020","url":null,"abstract":"McKibben artificial muscles are an important example of braided, tubular structures made of many interwoven helical fibers. Their highly non-linear response is very robust and reproducible, making them particularly suitable for applications in Soft Robotics. The rich behavior of McKibben actuators has been studied either through minimal geometric models or through complex Finite Elements Method (FEM) simulations. To obtain a simpler yet accurate model for McKibben actuators, we develop a simplified framework entirely based on the geometry of the virtual envelope surface defined by the fibers of the mesh. In the axisymmetric cases studied here, the problem boils down to solving for a single scalar field of one scalar variable. We validate our model by solving contractor and extensor muscle configurations and comparing them against experimental and numerical results from the literature, achieving good agreement at a significantly lower computational cost. Simulations reveal that loads are sustained mostly by the braided mesh, whereas the inner chamber stores most of the external work as elastic energy. This phenomenon explains why simplified formulas for force-pressure relationship may be quite effective in predicting the behavior of McKibben actuators.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"51 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123693975","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: 0

Effects of Compliance on Path-Tracking Performance of a Miniature Robot 柔度对微型机器人路径跟踪性能的影响

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122013

M. Uğur, Burak Arslan, Alperen Özzeybek, Onur Özcan

{"title":"Effects of Compliance on Path-Tracking Performance of a Miniature Robot","authors":"M. Uğur, Burak Arslan, Alperen Özzeybek, Onur Özcan","doi":"10.1109/RoboSoft55895.2023.10122013","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122013","url":null,"abstract":"Path-tracking is often challenging in miniature robots because their feet or wheels tend to slip due to the low robot weight. In this work, we investigate the effect of c-leg compliance on path-tracking performance and the obstacle-climbing capabilities of our foldable and miniature robot with soft, c-shaped legs. With its 82 mm x 60 mm x 29 mm size and 29.25 grams weight, a single module of our robot is one of the smallest untethered miniature robots. Our results show that utilizing soft c-shaped legs provides smooth path-tracking performance, similar to a wheeled differential drive robot. However, modules with rigid c-shaped legs are affected significantly by the impact and slip between the leg and the ground, and they perform rather unpredictably. Additionally, modules with wheels cannot climb obstacles 1 mm or larger. We show that using soft legs enhances the obstacle climbing skills of modules by climbing a 9 mm obstacle, while the module with rigid legs can only climb a 7 mm obstacle. These path-tracking abilities and obstacle-climbing capacity support our vision to build a reconfigurable robot using these modules.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121868629","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: 0

A Soft Pneumatic Actuator with Multiple Motion Patterns Based on Length-tuning Strain-limiting Layers 基于长度可调应变限制层的多运动模式气动软驱动器

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122012

Quan Xiong, Xuanyi Zhou, C. Yeow

引用次数: 0

Deployable Robotic Structures via Passive Rigidity on A Soft, Growing Robot 柔性生长机器人的被动刚性可展开机器人结构

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122104

Francesco Fuentes, Laura H. Blumenschein

{"title":"Deployable Robotic Structures via Passive Rigidity on A Soft, Growing Robot","authors":"Francesco Fuentes, Laura H. Blumenschein","doi":"10.1109/RoboSoft55895.2023.10122104","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122104","url":null,"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.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129770681","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: 0

FONS: a Python framework for simulating nonlinear inflatable actuator networks FONS:一个用于模拟非线性充气式执行器网络的Python框架

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122049

Arne Baeyens, B. V. Raemdonck, E. Milana, D. Reynaerts, B. Gorissen

{"title":"FONS: a Python framework for simulating nonlinear inflatable actuator networks","authors":"Arne Baeyens, B. V. Raemdonck, E. Milana, D. Reynaerts, B. Gorissen","doi":"10.1109/RoboSoft55895.2023.10122049","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122049","url":null,"abstract":"Soft robots designed within a conventional robotic framework typically consist of individually addressable compliant actuators that are merged together into a deformable body. For inflatable soft robots, this comes at a high cost of tethering which drastically limits their autonomy and versatility. This cost can be decreased by connecting multiple actuators in a fluidic network and partially offloading control to the passive interactions within the network. This type of morphological control necessitates some of the elements in the network to have nonlinear characteristics. However a standardized simulation framework for such networks is lacking. Here, we introduce the open-source python library FONS (Fluidic object-oriented network simulator), a tool for simulating fluidic interactions in lumped fluidic networks of arbitrary size. It is compatible with both gaseous and liquid fluids and supports analytical, simulated and measured characteristics for all components. These components can be defined using a library of standard components or can be implemented as custom objects following a modular object-oriented framework. We show that FONS is capable of simulating a multitude of systems with highly non-linear components exhibiting morphological control.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130570414","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: 0

Design of a Pneumatically Driven Inchworm-Like Gas Pipe Inspection Robot with Autonomous Control 一种气动驱动的自主控制类尺蠖气体管道检测机器人的设计

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121941

Y. Shen, Ryu Isono, Satoshi Kodama, Yoka Konishi, Taiga Inoue, Akihiko Onuki, R. Maeda, Jia-Yeu Lin, H. Ishii, A. Takanishi

{"title":"Design of a Pneumatically Driven Inchworm-Like Gas Pipe Inspection Robot with Autonomous Control","authors":"Y. Shen, Ryu Isono, Satoshi Kodama, Yoka Konishi, Taiga Inoue, Akihiko Onuki, R. Maeda, Jia-Yeu Lin, H. Ishii, A. Takanishi","doi":"10.1109/RoboSoft55895.2023.10121941","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121941","url":null,"abstract":"Periodic inspection of aging gas pipes is important. However, the conventional inspection approach of excavation is unfriendly to the environment. From the perspective of Sustainable Development Goals (SDGs), in this study, we introduced a pneumatically driven robot system called WATER-7 to observe the inner environment of aging pipes, in particular water inside these pipes, without excavation. The robot can locomote similar to an inchworm with a thrust module operating in a periodical pattern, select direction with an active bending module, and acquire images using a camera. The robot is designed and assembled within a diameter of 12[mm] to enable insertion into a gas meter valve as well as transition and retrieval from a 7[m] service pipe consisting of 8 pipe bends. To improve the driving performance, we also shortened the transit time by increasing air flow and improved the robustness of each module of the robot. Furthermore, an autonomous control system for autonomous burr avoidance based on image processing was developed. According to experiments, the robot average transit time and retrieval without damage count for the assumed scenario were 81[min] and 9 times, respectively. In addition, the autonomous burr avoidance was confirmed to be effective.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131195453","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

Anti-Slipping Adaptive Grasping Control with a Novel Optoelectronic Soft Sensor 一种新型光电软传感器抗滑移自适应抓取控制

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122010

M. Han, D. Popa, C. Harnett

引用次数: 0

DragonClaw: A low-cost pneumatic gripper with integrated magnetic sensing 龙爪:一种低成本的气动夹持器，带有集成磁传感

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122024

V. Sundaram, Raunaq M. Bhirangi, M. Rentschler, Abhi Gupta, T. Hellebrekers

{"title":"DragonClaw: A low-cost pneumatic gripper with integrated magnetic sensing","authors":"V. Sundaram, Raunaq M. Bhirangi, M. Rentschler, Abhi Gupta, T. Hellebrekers","doi":"10.1109/RoboSoft55895.2023.10122024","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122024","url":null,"abstract":"Advances in robotics and rapid prototyping have spurred interest in soft grippers across diverse fields ranging from medical devices to warehouse robotics. With this growing interest, it is imperative to create straight-forward soft grippers with embedded sensing that are more accessible to people outside of the soft robotics community. The DragonClaw - a 3D-printable, pneumatically actuated, three-fingered dexterous gripper with embedded magnetic tactile sensing - is intended to bridge this gap. The 2-DOF thumb design allows for a range of precision and power grasps, enabling the DragonClaw to complete a modified Kapandji test for dexterous ability. The operating range of the gripper is characterized through experiments on grip strength and finger blocking force. Further, the integrated magnetic sensor, ReSkin, is successfully demon-strated in a closed-loop control task to respond to external disturbances. Finally, the documentation, bill of materials, and detailed instructions to replicate the DragonClaw are made available on the DragonClaw website, encouraging people with wide ranging expertise to reproduce this work. In summary, the novelty of this work is the integration of soft robotic gripper feedback in a form factor that can easily be reproduced by inexpensive, simplified manufacturing methods.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"27 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120894710","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: 0