Retraction of Soft Growing Robots Without Buckling
Retraction of Soft Growing Robots Without Buckling
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DOI：
10.1109/lra.2020.2970629
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Okamura, Allison M.
中科院分区：
文献类型：
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作者：
Coad, Margaret M.;Thomasson, Rachel P.;Okamura, Allison M.
通过气动的体材料“生长”的延伸软机器人在探索混乱的环境中表现出了应用。在生长过程中，可以使用指导尖端与延伸的指导尖端以三个自由度来控制机器人尖端的运动和力。但是，当尝试通过从底部缩回内部物质材料来尝试逆转生长过程时，机器人体通常会通过屈曲而不是反转身体物质做出反应，从而控制了尖端运动和力量。我们提出并验证一个模型，以预测何时发生屈曲而不是反转，并引入一个机电设备，可以将其添加到tip延伸的软机器人中，以防止缩回期间屈曲，从而恢复转向执行器控制机器人运动和力的能力在反转过程中。使用我们的缩回设备，我们演示了三个以前不可能的任务：探索分叉路径的不同分支，逆转生长，同时在环境上施加最小的力量，并将环境样本带回基础而不打扰环境。
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three degrees of freedom using actuators that direct the tip in combination with extension. However, when reversal of the growth process is attempted by retracting the internal body material from the base, the robot body often responds by buckling rather than inverting the body material, making control of tip motion and force impossible. We present and validate a model to predict when buckling occurs instead of inversion, and introduce an electromechanical device that can be added to a tip-extending soft robot to prevent buckling during retraction, restoring the ability of steering actuators to control the robot's motion and force during inversion. Using our retraction device, we demonstrate three previously impossible tasks: exploring different branches of a forking path, reversing growth while applying minimal force on the environment, and bringing back environment samples to the base without disturbing the environment.