2023 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第4页

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

SCoReR: Sensorized Collision Resilient Aerial Robot 获奖:感应抗碰撞空中机器人

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121952

A. Bakır, Doğa Özbek, A. Abazari, Onur Özcan

{"title":"SCoReR: Sensorized Collision Resilient Aerial Robot","authors":"A. Bakır, Doğa Özbek, A. Abazari, Onur Özcan","doi":"10.1109/RoboSoft55895.2023.10121952","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121952","url":null,"abstract":"Detection and control of the physical contact/impact between micro aerial vehicles and the surrounding obstacles have become a significant issue with the rapid growth of their use in inspection and mapping missions in confined, obstacle-cluttered environments. In this work, we introduce a collision-resilient compliant micro quadcopter equipped with soft coil-spring type force sensors to passively resist and detect the physical contact/impact of the drone. The sensors act as resistive elements with a nominal resistance of 130–150 kΩ. They are manufactured from a conductive material via FDM 3D printing. We install these sensors on the protective bumpers of the collision-resilient foldable body of the drone. Any contact/impact between the bumpers and an obstacle results in deformation and buckling of the soft sensors, which results in a drastic change in their resistance, making it possible to detect the contacts/impacts of the bumpers. With a total weight of 220g and dimensions of 22cmx22cmx9cm, SCoReR successfully detects and recovers 100% of the contacts/impacts when it approaches a rigid wall with a velocity in the range of [0.1-1] m/s.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"166 7 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":"125974567","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

An Efficient Framework for the Solution of Contact Mechanics Problems in Soft Robotics 软体机器人中接触力学问题求解的有效框架

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121919

Kevin Wandke, Z. Y

引用次数: 1

An Optical Shape Sensor for Integration in Soft Grippers 一种集成在软爪上的光学形状传感器

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122071

M. Grube, R. Seifried

引用次数: 0

A preliminary study on an innovative soft robotic artificial heart ventricle 新型柔性机器人人工心脏心室的初步研究

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121955

Lucrezia Lorenzon, Giulia Beccali, M. Cianchetti

{"title":"A preliminary study on an innovative soft robotic artificial heart ventricle","authors":"Lucrezia Lorenzon, Giulia Beccali, M. Cianchetti","doi":"10.1109/RoboSoft55895.2023.10121955","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121955","url":null,"abstract":"In this work, we describe a soft robotic artificial heart ventricle whose novel pumping strategy is based on the programmable deformation of a fluid-containing and passive soft-shell. During pumping, the soft-shell collapses, showing the formation of inward folds that strongly contribute to the volumetric reduction of the soft-shell, thus to the pumping functionality. Our soft robotic artificial ventricle is a stand-alone system actuated by inverse pneumatic artificial muscles, that are arranged in a helical fashion around the soft-shell. We present a cable-driven soft pump as a study platform for preliminary investigation of the pumping strategy and the requirements for actuation. Three typologies of inverse pneumatic artificial muscles were fabricated and experimentally characterized as candidate actuators for the artificial ventricle. Finally, a ventricle prototype constituted by a soft-shell and an actuating system made of five inverse pneumatic actuators was designed and tested under physiologically relevant conditions of preload and afterload pressure. The experimental results demonstrated that our soft robotic artificial ventricle meets the functional requirements of a right heart ventricle operating in pulmonary circulation.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"106 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":"124021844","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

Mechanical Modeling and Optimal Model-based Design of a Soft Pneumatic Actuator 柔性气动执行器的力学建模及优化设计

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122083

Wu-Te Yang, Hannah S. Stuart, M. Tomizuka

{"title":"Mechanical Modeling and Optimal Model-based Design of a Soft Pneumatic Actuator","authors":"Wu-Te Yang, Hannah S. Stuart, M. Tomizuka","doi":"10.1109/RoboSoft55895.2023.10122083","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122083","url":null,"abstract":"Soft pneumatic actuators are widely used for soft grippers, which are known for their compliance as compared with traditional grippers. The generated force/torque of soft pneumatic actuators directly determines the grasping force. This paper introduces a computationally efficient soft pneumatic actuator (SPA) design methodology. The complex structure of the pneumatic actuator is approximated by a cantilever beam. The relationship between input pressure and output torque is derived by standard mechanical analysis. The design problem is formulated as a model-based optimization problem by treating the input-output mathematical model as the objective function. By solving the optimization problem, the optimal design parameters are obtained. Finite element analysis is applied to preliminarily verify the design parameters without the time-consuming fabrication of many actuators. Three soft actuators with different design parameter sets were fabricated to validate the optimal parameters. This work shows the utility of surprisingly simple calculations and assumptions for rapid parametric design studies.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"93 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":"121292130","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: 5

Composite Stretchable Sensors for the Detection of Asymmetric Deformations in a Soft Manipulator 用于软机械臂非对称变形检测的复合可拉伸传感器

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122052

David Hardman, Ryman Hashem, F. Iida

引用次数: 0

Whole-arm Grasping Strategy for Soft Arms to Capture Space Debris 软臂捕获空间碎片的全臂抓取策略

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122076

Camilla Agabiti, Etienne Ménager, E. Falotico

{"title":"Whole-arm Grasping Strategy for Soft Arms to Capture Space Debris","authors":"Camilla Agabiti, Etienne Ménager, E. Falotico","doi":"10.1109/RoboSoft55895.2023.10122076","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122076","url":null,"abstract":"In this work, we present a whole-arm grasping strategy for soft arms whose task is to capture space debris. The non-cooperative nature of space debris and the characteristics of the space environment enforce high-level requirements for robotic arms, especially dexterity. Taking inspiration from the outstanding capabilities of the elephant trunk in grasping, we formulated a grasping strategy based upon the identification of contact points on the object to force the bending of the arm and induce the wrapping around the object, as the animal model does. This strategy is implemented by leveraging on coupled Finite Element simulations of a trunk-like soft arm and Reinforcement Learning tools to learn the grasping. The results show that the robot successfully learns the task by moving the proximal part closer to the object and using the distal one to wrap around the object. We show that the obtained policy is valid for diverse object sizes and positions. Our grasping strategy is the first example of bio-inspired whole-arm grasping for a soft arm in space. We believe that, in the near future, this strategy will enable new grasping capabilities in soft arms.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"47 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":"125019284","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