Self Sustainable Autonomous Soft Robots
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Self Sustainable Autonomous Soft Robots
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Author : Yusen Zhao
language : en
Publisher:
Release Date : 2022
Self Sustainable Autonomous Soft Robots written by Yusen Zhao and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
Soft robotics with intrinsic mechanical compliancy and intelligence features is emerging and pushing the boundaries of conventional robots. To be smarter, reliable, and self-sustainable, soft robots require new soft materials capable of autonomous sensing and actuating with embodied energy. Polymers, especially tissue-like hydrogels, show immense promise owing to their softness, simple and tunable synthesis, multi-functionalities, and stimuli-responsiveness. Currently, tremendous attempts have been made using these materials to develop flexible/stretchable devices as robotic components, but these approaches severely compromise mechanical properties and desired functionalities, such as actuation, sensation, mobility, and energy/power density. My dissertation focuses on designing new soft materials for next-generation bioinspired autonomous robots. In Chapter 1, the state-of-the-art of soft robotic materials and system design will be discussed. The design principles of photoresponsive polymers, and conducting hydrogels and polymers were elucidated, followed by the motivation of the current study related to autonomous actuators, flexible electronics, and energy storage. In Chapters 2 and 3, the photo-responsive smart materials were developed for artificial phototropism and self-sustained oscillation. An in-depth understanding of the mechanism of autonomous motion, actuator characterizations, and potential applications in energy harvesting and oscillatory locomotion were investigated. In Chapter 4, the design principle and synthetic innovation of highly stretchable conducting hydrogels and polymers were discussed. Constructing new conducting materials with intrinsic stretchability was used for piezoresistive sensing and proprioceptive actuation. In Chapter 5, we developed oriented and hierarchical conducting hydrogels with controlled microstructures. We explored applications in flexible and stretchable energy storage devices with bending, stretching, and long-term cyclic stability. In Chapter 6, we summarized the progress made in autonomous actuators, sensors, and energy storage. We provided perspectives of novel materials in use of such applications.
Design Fabrication And Control Of Soft Robots With Fluidic Elastomer Actuators
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Author : Andrew Dominic Marchese
language : en
Publisher:
Release Date : 2015
Design Fabrication And Control Of Soft Robots With Fluidic Elastomer Actuators written by Andrew Dominic Marchese and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
The goal of this thesis is to explore how autonomous robotic systems can be created with soft elastomer bodies powered by fluids. In this thesis we innovate in the design, fabrication, control, and experimental validation of both single and multi-segment soft fluidic elastomer robots. First, this thesis describes an autonomous fluidic elastomer robot that is both self-contained and capable of rapid, continuum body motion. Specifically, the design, modeling, fabrication, and control of a soft fish is detailed, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot on-board: power, actuation, processing, and control. At the core of the fish's soft body is an array of Fluidic Elastomer Actuators (FEAs). The fish is designed to emulate escape responses in addition to forward swimming because such maneuvers require rapid body accelerations and continuum body motion. These maneuvers showcase the performance capabilities of this self-contained robot. The kinematics and controllability of the robot during simulated escape response maneuvers are analyzed and compared to studies on biological fish. During escape responses, the soft-bodied robot is shown to have similar input-output relationships to those observed in biological fish. The major implication of this portion of the thesis is that a soft fluidic elastomer robot is shown to be both self-contained and capable of rapid body motion. Next, this thesis provides an approach to planar manipulation using soft fluidic elastomer robots. That is, novel approaches to design, fabrication, kinematic modeling, power, control, and planning as well as extensive experimental evaluations with multiple manipulator prototypes are presented. More specifically, three viable manipulator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their actuator structures, namely: ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax- based casting. Furthermore, two ways of fabricating a multiple DOF manipulator are explored: casting the complete manipulator as a whole, and casting single DOF segments with subsequent concatenation. An approach to closed-loop configuration control is presented using a piecewise constant curvature kinematic model, real-time localization data, and novel fluidic drive cylinders which power actuation. Multi-segment forward and inverse kinematic algorithms are developed and combined with the configuration controller to provide reliable task-space position control. Building on these developments, a suite of task-space planners are presented to demonstrate new autonomous capabilities from these soft robots such as: (i) tracking a path in free-space, (ii) maneuvering in confined environments, and (iii) grasping and placing objects. Extensive evaluations of these capabilities with physical prototypes demonstrate that manipulation with soft fluidic elastomer robots is viable. Lastly, this thesis presents a robotic manipulation system capable of autonomously positioning a multi-segment soft fluidic elastomer robot in three dimensions while subject to the self-loading effects of gravity. Specifically, an extremely soft robotic manipulator morphology that is composed entirely from low durometer elastomer, powered by pressurized air, and designed to be both modular and durable is presented. To understand the deformation of a single arm segment, a static physics-based model is developed and experimentally validated. Then, to kinematically model the multi-segment manipulator, a piece-wise constant curvature assumption consistent with more traditional continuum manipulators is used. Additionally, a complete fabrication process for this new manipulator is defined and used to make multiple functional prototypes. In order to power the robot's spatial actuation, a high capacity fluidic drive cylinder array is implemented, providing continuously variable, closed-circuit gas delivery. Next, using real-time localization data, a processing and control algorithm is developed that generates realizable kinematic curvature trajectories and controls the manipulator's configuration along these trajectories. A dynamic model for this multi-body fluidic elastomer manipulator is also developed along with a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as its drive cylinders. Next, using this model and trajectory optimization techniques locally-optimal, open-loop control policies are found. Lastly, new capabilities offered by this soft fluidic elastomer manipulation system are validated with extensive physical experiments. These are: (i) entering and advancing through confined three-dimensional environments, (ii) conforming to goal shape-configurations within a sagittal plane under closed-loop control, and (iii) performing dynamic maneuvers we call grabs.
Autonomous Robotic Systems
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Author : Changjiu Zhou
language : en
Publisher: Physica
Release Date : 2013-03-20
Autonomous Robotic Systems written by Changjiu Zhou and has been published by Physica this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-20 with Computers categories.
This book contains an edited collection of eighteen contributions on soft and hard computing techniques and their applications to autonomous robotic systems. Each contribution has been exclusively written for this volume by a leading researcher. The volume demonstrates the various ways that the soft computing and hard computing techniques can be used in different integrated manners to better develop autonomous robotic systems that can perform various tasks of vision, perception, cognition, thinking, pattern recognition, decision-making, and reasoning and control, amongst others. Each chapter of the book is self-contained and points out the future direction of research. "It is a must reading for students and researchers interested in exploring the potentials of the fascinating field that will form the basis for the design of the intelligent machines of the future" (Madan M. Gupta)
Building And Controlling Fluidically Actuated Soft Robots
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Author : Robert Kevin Katzschmann
language : en
Publisher:
Release Date : 2018
Building And Controlling Fluidically Actuated Soft Robots written by Robert Kevin Katzschmann and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
This thesis describes the creation and control of soft robots made of deformable elastomer materials and powered by fluidics. We embed soft fluidic actuators into self-contained soft robotic systems, such as fish for underwater exploration or soft arms for dynamic manipulation. We present models describing the physical characteristics of these continuously deformable and fully soft robots, and then leverage these models for motion planning and closed-loop feedback control in order to realize quasi-static manipulation, dynamic arm motions, and dynamic interactions with an environment. The design and fabrication techniques for our soft robots include the development of soft actuator morphologies, soft casting techniques, and closed-circuit pneumatic and hydraulic powering methods. With a modular design approach, we combine these soft actuator morphologies into robotic systems. We create a robotic fish for underwater locomotion, as well as multi-finger hands and multi-segment arms for use in object manipulation and interaction with an environment. The robotic fish uses a soft hydraulic actuator as its deformable tail to perform open-loop controlled swimming motions through cyclic undulation. The swimming movement is achieved by a custom-made displacement pump and a custom-made buoyancy control unit, all embedded within the soft robotic fish. The fish robot receives high-level control commands via acoustic signals to move in marine environments. The control of the multi-segment arms is enabled by models describing the geometry, kinematics, impedance, and dynamics. We use the models for quasi-static closed-loop control and dynamic closed-loop control. The quasi-static controllers work in combination with the kinematic models and geometric motion planners to enable the soft arms to move in confined spaces, and to autonomously perform object grasping. Leveraging the models for impedance and dynamics, we also demonstrate dynamic arm motions and end-effector interactions of the arm with an environment. Our dynamic model allows the application of control techniques developed for rigid robots to the dynamic control of soft robots. The resulting model-based closed-loop controllers enable dynamic curvature tracking as well as surface tracing in Cartesian space.
Microscale Soft Robotics
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Author : Jaeyoun (Jay) Kim
language : en
Publisher: Springer
Release Date : 2016-12-20
Microscale Soft Robotics written by Jaeyoun (Jay) Kim and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-12-20 with Technology & Engineering categories.
This book presents the technological basics and applications of small-scale (mm to sub-mm in length-scales) soft robots and devices, written for researchers in both academia and industry. Author Jaeyoun Kim presents technological motivations, enabling factors, and examples in an inter-linked fashion, making it easy for readers to understand and explore how microscale soft robots are a solution to researchers in search of technological platforms for safe, human-friendly biomedical devices. A compact and timely introduction, this book summarizes not only the enabling factors for soft robots and MEMS devices, but also provides a survey of progress in the field and looks to the future in terms of the material, design, and application aspects this technology demonstrates.
Soft Robotics Based On Electroactive Polymers
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Author : Guoying Gu
language : en
Publisher: Frontiers Media SA
Release Date : 2021-06-17
Soft Robotics Based On Electroactive Polymers written by Guoying Gu and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-06-17 with Technology & Engineering categories.
Self Sufficiency Of An Autonomous Reconfigurable Modular Robotic Organism
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Author : Raja Humza Qadir
language : en
Publisher: Springer
Release Date : 2014-09-25
Self Sufficiency Of An Autonomous Reconfigurable Modular Robotic Organism written by Raja Humza Qadir and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-09-25 with Technology & Engineering categories.
This book describes how the principle of self-sufficiency can be applied to a reconfigurable modular robotic organism. It shows the design considerations for a novel REPLICATOR robotic platform, both hardware and software, featuring the behavioral characteristics of social insect colonies. Following a comprehensive overview of some of the bio-inspired techniques already available, and of the state-of-the-art in re-configurable modular robotic systems, the book presents a novel power management system with fault-tolerant energy sharing, as well as its implementation in the REPLICATOR robotic modules. In addition, the book discusses, for the first time, the concept of “artificial energy homeostasis” in the context of a modular robotic organism, and shows its verification on a custom-designed simulation framework in different dynamic power distribution and fault tolerance scenarios. This book offers an ideal reference guide for both hardware engineers and software developers involved in the design and implementation of autonomous robotic systems.
Early Career Scientists Converse On The Future Of Soft Robotics
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Author : Falk Tauber
language : en
Publisher:
Release Date : 2023
Early Career Scientists Converse On The Future Of Soft Robotics written by Falk Tauber and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023 with categories.
Abstract: During the recent decade, we have witnessed an extraordinary flourishing of soft robotics. Rekindled interest in soft robots is partially associated with the advances in manufacturing techniques that enable the fabrication of sophisticated multi-material robotic bodies with dimensions ranging across multiple length scales. In recent manuscripts, a reader might find peculiar-looking soft robots capable of grasping, walking, or swimming. However, the growth in publication numbers does not always reflect the real progress in the field since many manuscripts employ very similar ideas and just tweak soft body geometries. Therefore, we unreservedly agree with the sentiment that future research must move beyond "soft for soft's sake." Soft robotics is an undoubtedly fascinating field, but it requires a critical assessment of the limitations and challenges, enabling us to spotlight the areas and directions where soft robots will have the best leverage over their traditional counterparts. In this perspective paper, we discuss the current state of robotic research related to such important aspects as energy autonomy, electronic-free logic, and sustainability. The goal is to critically look at perspectives of soft robotics from two opposite points of view provided by early career researchers and highlight the most promising future direction, that is, in our opinion, the employment of soft robotic technologies for soft bio-inspired artificial organs
Self Reconfiguring Modular Robot
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Author : Fouad Sabry
language : en
Publisher: One Billion Knowledgeable
Release Date : 2022-08-09
Self Reconfiguring Modular Robot written by Fouad Sabry and has been published by One Billion Knowledgeable this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-08-09 with Technology & Engineering categories.
What Is Self Reconfiguring Modular Robot Self-reconfigurable modular robots are autonomous kinematic machines that may take on a variety of shapes and configurations. They are also known as modular self-reconfiguring robotic systems. In addition to the conventional actuation, sensing, and control that are typically found in fixed-morphology robots, self-reconfiguring robots have the ability to deliberately change their own shape by rearranging the connectivity of their parts. This enables them to adapt to new circumstances, perform new tasks, or recover from damage more quickly than fixed-morphology robots. How You Will Benefit (I) Insights, and validations about the following topics: Chapter 1: Self-reconfiguring modular robot Chapter 2: Robot Chapter 3: Reconfigurable computing Chapter 4: Utility fog Chapter 5: Ant colony optimization algorithms Chapter 6: Swarm intelligence Chapter 7: Claytronics Chapter 8: Reconfigurable manufacturing system Chapter 9: Control reconfiguration Chapter 10: Programmable matter Chapter 11: Physicomimetics Chapter 12: Webots Chapter 13: Daniela L. Rus Chapter 14: Robotics Chapter 15: MIBE architecture Chapter 16: Morphogenetic robotics Chapter 17: Torch (machine learning) Chapter 18: Kilobot Chapter 19: Molecubes Chapter 20: Soft robotics Chapter 21: Continuum robot (II) Answering the public top questions about self reconfiguring modular robot. (III) Real world examples for the usage of self reconfiguring modular robot in many fields. (IV) 17 appendices to explain, briefly, 266 emerging technologies in each industry to have 360-degree full understanding of self reconfiguring modular robot' technologies. Who This Book Is For Professionals, undergraduate and graduate students, enthusiasts, hobbyists, and those who want to go beyond basic knowledge or information for any kind of self reconfiguring modular robot.
Bioinspired Sensing Actuation And Control In Underwater Soft Robotic Systems
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Author : Derek A. Paley
language : en
Publisher: Springer Nature
Release Date : 2020-11-06
Bioinspired Sensing Actuation And Control In Underwater Soft Robotic Systems written by Derek A. Paley and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-06 with Technology & Engineering categories.
This book includes representative research from the state‐of‐the‐art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and seastar. It summarizes the latest findings in an emerging field of bioinspired soft robotics for the underwater domain, primarily drawing from (but not limited to) an ongoing research program in bioinspired autonomous systems sponsored by the Office of Naval Research. The program has stimulated cross‐disciplinary research in biology, material science, computational mechanics, and systems and control for the purpose of creating novel robotic appendages for maritime applications. The book collects recent results in this area.
