An Origami Continuum Robot Capable of Precise Motion Through Torsionally Stiff Body and Smooth Inverse Kinematics
An Origami Continuum Robot Capable of Precise Motion Through Torsionally Stiff Body and Smooth Inverse Kinematics
复制标题
DOI：
10.1089/soro.2020.0026
复制
发表时间：
2020-07-24
期刊：
影响因子：
7.9
通讯作者：
Onal, Cagdas D.
中科院分区：
文献类型：
--
作者：
Santoso, Junius;Onal, Cagdas D.
Continuum机器人手臂及其超冗余连续可变形机构在具有离散连杆和关节的传统刚性机器人手臂不可能实现的应用中显示出巨大的前景，例如在不卡住的情况下导航狭窄的角落。然而，现有的连续体机器人在受到偏置载荷时遭受过度扭曲，甚至是由于它们自身的体重，这降低了它们的灵活性和精度。在这项工作中，我们提出了一个连续的机械手，能够提供被动的扭转刚度，通过折纸启发的模块化设计，弥补了不可控的扭曲通常存在于连续的机器人。我们提出的折纸连续体模块与由硅橡胶制成的类似尺寸的连续体模块相比，扭转强度约为73倍，同时重量轻50%，并且能够改变125%的长度。基于这些物理能力，我们提出了一种基于优化的方法来解决我们的多段折纸连续体机械手的逆运动学，确保平稳的运动，以遵循所需的末端执行器路径，最大限度地减少振动的长和细长的身体。此外，利用我们的折纸机械手的长度变化能力，我们设计和评估生长到形状的算法，规划全身机器人插入运动，遵循曲折的路径。最后，我们展示了我们提出的连续体机器人的取放，检查/探索，和机器人艺术的各种应用。我们的研究提出了一个高性能的连续体机器人安全操作和结构检测应用，具有现实世界的部署潜力。
Continuum robot arms, with their hyper-redundant continuously deformable bodies, show great promise in applications deemed impossible for traditional rigid robot arms with discrete links and joints, such as navigating tight corners without getting stuck. However, existing continuum robots suffer from excessive twisting when subjected to offset loading, even resulting from their own body weight, which reduces their dexterity and precision. In this work, we present a continuum manipulator that is capable of providing passive torsional stiffness through an origami-inspired modular design, remedying the non-controllable twist typically present in continuum robots. Our proposed origami continuum module is similar to 73 times stronger in torsion compared with similar-size continuum modules made out of silicone rubber, while being 50% lighter, and capable of 125% change in length. Building on these physical capabilities, we present an optimization-based method to solve for the inverse kinematics of our multi-segment origami continuum manipulator that ensures smooth motion to follow desired end-effector paths, minimizing vibrations of the long and slender body. Further, taking advantage of the length-change capabilities of our origami manipulator, we devise and evaluate grow-to-shape algorithms to plan for full-body robot insertion motions that follow tortuous paths. Lastly, we showcase various applications of our proposed continuum robot for pick-and-place, inspection/exploration, and robotic art. Our study presents a highly capable continuum robot for safe manipulation and structure inspection applications, with potential for real-world deployment.