Analysis of Soft Robotics Based on the Concept of Category of Mobility
Analysis of Soft Robotics Based on the Concept of Category of Mobility
复制标题
基于移动范畴概念的软体机器人分析
DOI：
10.1155/2019/1490541
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发表时间：
2019
期刊：
影响因子：
2.3
通讯作者：
Ojima Izumi
中科院分区：
文献类型：
--
作者：
Saigo Hayato;Naruse Makoto;Okamura Kazuya;Hori Hirokazu;Ojima Izumi
软机器人技术是一个新兴的研究领域，机器人主体由柔性材料组成。它允许身体弯曲、扭曲和变形来移动或使其形状适应环境进行抓取，所有这些对于具有刚体的传统硬机器人来说都是困难的。然而，尽管软机器人技术的重要性已得到公认，但其理论基础和设计原则并不充分。例如，软机器人的控制外包给形态属性和自然过程；因此，机器人与其环境之间的耦合关系尤为重要。在本文中，我们提出了基于范畴论的软机器人技术的数学基础，范畴论是抽象数学的一个分支，其中任何概念都可以通过对象和箭头来描述。它可以严格描述软机器人的固有特征及其与环境的关系以及与传统硬机器人相比的差异。我们提出了一个称为“移动类别”的概念来很好地描述主题。该理论已应用于模型系统和分析，以突出在通用夹具中观察到的适应行为，这是软机器人技术的典型例子。本研究的目的不是为现有机器人技术提供具体的工程解决方案，而是通过范畴论为软机器人提供清晰的数学描述，并通过简单的软抓手演示来暗示其潜在能力。本文为软机器人技术的理论背景和设计原则的发展铺平了道路。
Soft robotics is an emerging field of research where the robot body is composed of flexible and soft materials. It allows the body to bend, twist, and deform to move or to adapt its shape to the environment for grasping, all of which are difficult for traditional hard robots with rigid bodies. However, the theoretical basis and design principles for soft robotics are not well‐founded despite their recognized importance. For example, the control of soft robots is outsourced to morphological attributes and natural processes; thus, the coupled relations between a robot and its environment are particularly crucial. In this paper, we propose a mathematical foundation for soft robotics based on category theory, a branch of abstract mathematics where any notions can be described by objects and arrows. It allows for a rigorous description of the inherent characteristics of soft robots and their relation to the environment as well as the differences compared to conventional hard robots. We present a notion called the category of mobility to well describe the subject matter. The theory has been applied to a model system and analysis to highlight the adaptation behavior observed in universal grippers, which are a typical example of soft robotics. The aim of the present study is not to offer concrete engineering solutions to existing robotics but to provide clear mathematical description of soft robots by category theory and to imply its potential abilities by a simple soft gripper demonstration. This paper paves the way to developing a theoretical background and design principles for soft robotics.
揭示基于分级表面粗糙度测量的修饰光子-声子蚀刻机制
DOI：
--
发表时间：
2013
期刊：
影响因子：
--
作者：
M. Naruse;T. Yatsui;W. Nomura;T. Kawazoe;M. Aida;M. Ohtsu
通讯作者：
M. Ohtsu