StarBlocks: Soft Actuated Self-Connecting Blocks for Building Deformable Lattice Structures
StarBlocks: Soft Actuated Self-Connecting Blocks for Building Deformable Lattice Structures
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DOI：
10.1109/lra.2023.3284361
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发表时间：
2023-08
影响因子：
5.2
通讯作者：
Luyang Zhao;Yijia Wu;Wenzhong Yan;Weishu Zhan;Xiaonan Huang;Joran W. Booth;Ankur M. Mehta;Kostas E. Bekris;Rebecca Kramer‐Bottiglio;Devin J. Balkcom
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文献类型：
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作者：
Luyang Zhao;Yijia Wu;Wenzhong Yan;Weishu Zhan;Xiaonan Huang;Joran W. Booth;Ankur M. Mehta;Kostas E. Bekris;Rebecca Kramer‐Bottiglio;Devin J. Balkcom
在本文中，我们提出了一个软模块块的灵感来自张拉整体结构，可以形成承载结构，通过自组装。该块包括星状顺应性骨架、形状记忆合金肌肉和永磁体连接器。我们为单个块分类了五种变形基元：弯曲、压缩、拉伸、站立和收缩，它们可以跨模块组合以推断全晶格变形。层级功能在自然界和人类设计的系统中非常丰富。使用多个自组装晶格，我们演示了形成和驱动的3维形状，包括承重弹出式帐篷，自组装轮，四足动物，基于块的机械臂与夹具，和非可移动操作。据我们所知，这是第一个主动变形模块（块）的例子，可以根据需要重新配置成不同的承载结构。
In this paper, we present a soft modular block inspired by tensegrity structures that can form load-bearing structures through self-assembly. The block comprises a stellated compliant skeleton, shape memory alloy muscles, and permanent magnet connectors. We classify five deformation primitives for individual blocks: bend, compress, stretch, stand, and shrink, which can be combined across modules to reason about full-lattice deformation. Hierarchical function is abundant in nature and in human-designed systems. Using multiple self-assembled lattices, we demonstrate the formation and actuation of 3-dimensional shapes, including a load-bearing pop-up tent, a self-assembled wheel, a quadruped, a block-based robotic arm with gripper, and non-prehensile manipulation. To our knowledge, this is the first example of active deformable modules (blocks) that can reconfigure into different load-bearing structures on-demand.