2018 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第9页

Flapping at resonance: Realization of an electroactive elastic thorax 共振拍动:电活动弹性胸的实现

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8404940

C. Cao, S. Burgess, A. Conn

引用次数: 5

Soft grasping with wet adhesion: Preliminary evaluation 湿附着力软抓:初步评价

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8404955

P. Nguyen, N. Huynh, T. T. Phan, V. A. Ho

{"title":"Soft grasping with wet adhesion: Preliminary evaluation","authors":"P. Nguyen, N. Huynh, T. T. Phan, V. A. Ho","doi":"10.1109/ROBOSOFT.2018.8404955","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404955","url":null,"abstract":"Locking two surfaces with minimum normal force may result in safe grasping of objects in soft robotic hands. This paper presents a preliminary approach on design and analysis of a bio-inspired soft pad that enhances the adhesion with the environment by morphological design of its surface at micro-scale. The design principle is originated from the biological wet attachment of a tree-frog toes with the surrounding environment, caused by capillary force and surface tension of a secretion film between the toe and the surface. Especially, the tree-frog's toe has a network of polygonal cells (or blocks) with grooves among them, which act as liquid reservoirs and capillary tubes. We conducted some analysis on this wet adhesion principle, showing that total normal force increases with the grooved pattern compared to the that of the flat one in wet condition. We then fabricated a micro-patterned mold, using e-beam technology, for casting grooved surface onto a silicon substrate. We also conducted preliminary investigation of the adhesion strength of the fabricated soft pad with measurement of normal force under wet and dry condition. This is the first time wet adhesion was considered in soft robotic grasping, and this research is expected to be applied in wet and high-moisture environment.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134208490","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: 11

Caterpillar-inspired crawling robot on a stick using active-release and passive-grip elastic legs 受毛毛虫启发的爬行机器人，使用主动释放和被动抓取弹性腿

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8405369

T. Umedachi, Y. Kawahara

引用次数: 3

Lithographic production of vertically aligned CNT strain sensors for integration in soft robotic microactuators 用于集成在软机器人微致动器中的垂直对齐碳纳米管应变传感器的光刻生产

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8404952

B. Gorissen, E. Milana, D. Reynaerts, Michaël De Voider

{"title":"Lithographic production of vertically aligned CNT strain sensors for integration in soft robotic microactuators","authors":"B. Gorissen, E. Milana, D. Reynaerts, Michaël De Voider","doi":"10.1109/ROBOSOFT.2018.8404952","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404952","url":null,"abstract":"This paper reports on a piezoresistive strain sensor that uses vertically aligned carbon nanotube (CNT) filler elements which are embedded in a rubber matrix. Compared to previously used conductive filler elements, vertical CNTs can be patterned using lithography, making it possible to scale down the sensor footprint into the micrometer range. This technological advancement is instrumental for developing intelligent soft microrobots with embedded flexible sensors. We compare vertical CNTs and carbon black as filler elements, where newly developed lithographic production techniques are applied to shape a generic strain sensor topology that is compatible with the majority of planar inflatable microactuators. This research shows a significant improvement in sensor linearity by using vertical CNTs as filler elements over carbon black. Further, a lithographically fabricated strain sensor has been successfully embedded in an elastic inflatable bending microactuator with outer dimensions of 5.5×1×0.06mm3. The full lithographic production process to create this actuator is described in this paper, together with its characterization under a static pressure input.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124371319","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: 4

Optimal learning and surface identification for terrestrial soft robots 陆基软体机器人的最优学习与曲面识别

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8405366

Miranda M. Tanouye, V. Vikas

{"title":"Optimal learning and surface identification for terrestrial soft robots","authors":"Miranda M. Tanouye, V. Vikas","doi":"10.1109/ROBOSOFT.2018.8405366","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405366","url":null,"abstract":"Soft material robots have potential for deployment in dynamic environments, e.g. search and rescue operations, owing to their impact resistance and adaptability. However, these advantages are accompanied by challenges of robot control and surface identification. The continuum, soft material robot body interacts uniquely with different environments e.g. a smooth table or a rough carpet. These interactions with the surface can be discretized and modeled using graph theory. This representation allows the robot to learn from its surroundings and generate environment-specific locomotion control sequences. Here, simple cycles of individual graphs are analogous to periodic locomotion gaits of the soft robot. Inversely, provided the knowledge of different environments (captured in the individual graphs), the robot has ability to optimally identify the environment through experimentation and interaction. This paper presents a method for soft robots to a) optimally learn the environment and b) determine optimized movements for identifying the surface of locomotion by utilizing the information from previously experienced environments. The optimized movements are identified as arcs, paths and simple cycles that yield the most contrasting costs. The surface identification is performed by analyzing the locomotion cost differential between the experienced surface interaction and that of a previously known environment. The learning and control algorithms (Eulerian path, simple cycles) are ‘arc-centric’ i.e. focus on traversing arcs. Whereas surface identification algorithms are ‘node-centric’ i.e. focus on traversing nodes (simple paths).","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122832844","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: 2

A soft robotic approach to robust and dexterous grasping 一种柔性机器人鲁棒灵巧抓取方法

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8404954

Jianshu Zhou, Xiaojiao Chen, Jing Li, Y. Tian, Zheng Wang

引用次数: 35

Flexible link long reach manipulator with lightweight dual arm: Soft-collision detection, reaction, and obstacle localization 轻量化双臂柔性连杆长臂机械手:软碰撞检测、反应和障碍物定位

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8404953

A. Suárez, A. Giordano, K. Kondak, G. Heredia, A. Ollero

引用次数: 14

Effects of material properties on soft gripper grasping forces 材料性能对软夹持器抓取力的影响

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8405365

A. Agarwal, V. Viswanathan, S. Maheshwari, P. Alvarado

引用次数: 5

Resistance-based self-sensing system of active self-melting bolt towards autonomous healing structure 面向自愈合结构的主动自熔螺栓电阻传感系统

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8404902

Shinsuke Nakashima, Takuma Shirai, Yuki Asano, Youhei Kakiuchi, K. Okada, M. Inaba

引用次数: 5

Tough, bendable and stretchable tactile sensors array for covering robot surfaces 坚韧，可弯曲和可拉伸的触觉传感器阵列覆盖机器人表面

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8404932

Yuji Hirai, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe

引用次数: 10