RUBIC: An Untethered Soft Robot With Discrete Path Following.
RUBIC: An Untethered Soft Robot With Discrete Path Following.
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DOI：
10.3389/frobt.2019.00052
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发表时间：
2019
影响因子：
3.4
通讯作者：
Conn AT
中科院分区：
文献类型：
--
作者：
Chen HY;Diteesawat RS;Haynes A;Partridge AJ;Simons MF;Werner E;Garrad M;Rossiter J;Conn AT
软机器人有可能减少人类冒险进入不合适的环境或在极端条件下工作的需要。虽然它们的柔软性质使它们具有适应不断变化的环境的优势，但由于使它们有效的合规性，它们的控制可能具有挑战性。在本文中，我们提出了RUBIC：滚动，不受约束，无约束，智能立方体，克服了一些困难的2D控制约束运动到一个离散笛卡尔空间。RUBIC的运动方法是从立方体的一个面滚动到另一个面，在四个方向中的任何一个。这种运动使它在2D网格结构中移动，其尺寸由立方体的特征长度定义。当处于静止位置时，RUBIC具有固有的稳定性，并形成了一个安全的平台，用于测量和土壤样本，用于定位和特设网络基础设施，并作为大型机器人和结构的基础。我们介绍了RUBIC的身体设计，每个面部的四个气动气球致动器，产生其独特的步态，以及运动和障碍物攀爬的控制系统。我们考虑的设计和制造方法，包括物理尺寸和重量，材料性能和控制保真度的约束。提出了一种替代的运动方案，以提高速度和线性度，这也增加了每卷行驶的距离。RUBIC的平均运动精度为4.58°偏差，并成功穿越高达自身高度35%的台阶。正如RUBIC所展示的那样，软机器人工作空间的离散化具有安全和可预测的运动优势，并在结构化和危险环境中均有应用。
Soft robots have the potential to diminish the need for humans to venture into unsuitable environments or work in extreme conditions. While their soft nature gives them the advantage of being adaptable to changing environments, their control can be challenging because of the compliance that makes them effective. In this paper we present RUBIC: the Rolling, Untethered, Ballooning, Intelligent Cube, that overcomes some of the difficulties of 2D control by constraining motion to a discretised Cartesian space. RUBIC's method of locomotion is by rolling from one face of the cube to another, in any one of four directions. This motion causes it to move within a 2D grid structure, the dimensions of which are defined by the cube's characteristic length. When in its resting position RUBIC is inherently stable and forms a safe platform for tasks including taking measurements and soil samples, for localization and ad hoc network infrastructure, and as the foundation for larger robots and structures. We present the design of RUBIC's body, the four pneumatic ballooning actuators per face that generate its unique gait, and the control systems for locomotion and obstacle climbing. We consider constraints imposed by the design and fabrication methods including physical dimension and weight, material properties and control fidelity. An alternative locomotion scheme is proposed to improve the speed and linearity which also increases the distance traveled per roll. RUBIC travels with a mean locomotion accuracy of 4.58° deviation and successfully traverses steps up to 35% of its own height. The discretisation of a soft robotics workspace, as demonstrated by RUBIC, has advantages for safe and predictable locomotion and has applications in both structured and hazardous environments.