Scaling Up Soft Robotics: A Meter-Scale, Modular, and Reconfigurable Soft Robotic System
Scaling Up Soft Robotics: A Meter-Scale, Modular, and Reconfigurable Soft Robotic System
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DOI：
10.1089/soro.2020.0123
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发表时间：
2021-03-25
期刊：
影响因子：
7.9
通讯作者：
Rus, Daniela
中科院分区：
文献类型：
--
作者：
Li, Shuguang;Awale, Samer A.;Rus, Daniela
今天，大规模工业机器人的使用使装配线上的非凡成就成为可能，但这些机器人仍然与工厂车间的人类隔离，因为它们非常强大，因此周围很危险。相比之下，软机器人研究社区提出了对人类环境安全的软机器人。目前的技术水平使得能够创建小规模的软机器人装置。在这篇文章中，我们解决之间的差距差距小规模的软机器人和人类大小的安全机器人的需要，通过引入一个新的软机器人模块和多个人类规模的机器人配置基于此模块。我们通过提出一个模块化和可重构的软机器人平台来解决大型软机器人问题，该平台可用于构建功能齐全且无系绳的米级软机器人。这些发现表明，新一波人类规模的软机器人可以在人类和机器可以并肩工作的任务和环境中替代经典的刚体机器人，这些能力包括但不限于自主腿部运动和抓取。
Today's use of large-scale industrial robots is enabling extraordinary achievement on the assembly line, but these robots remain isolated from the humans on the factory floor because they are very powerful, and thus dangerous to be around. In contrast, the soft robotics research community has proposed soft robots that are safe for human environments. The current state of the art enables the creation of small-scale soft robotic devices. In this article we address the gap between small-scale soft robots and the need for human-sized safe robots by introducing a new soft robotic module and multiple human-scale robot configurations based on this module. We tackle large-scale soft robots by presenting a modular and reconfigurable soft robotic platform that can be used to build fully functional and untethered meter-scale soft robots. These findings indicate that a new wave of human-scale soft robots can be an alternative to classic rigid-bodied robots in tasks and environments where humans and machines can work side by side with capabilities that include, but are not limited to, autonomous legged locomotion and grasping.