Soft Robotic Oscillators With Strain-Based Coordination
Soft Robotic Oscillators With Strain-Based Coordination
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DOI：
10.1109/lra.2021.3100599
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发表时间：
2021-10-01
影响因子：
5.2
通讯作者：
Petersen, Kirstin
中科院分区：
文献类型：
--
作者：
Ceron, Steven;Kimmel, Marta An;Petersen, Kirstin
许多模块化机器人和活性物质平台的灵感来自于单细胞生物的自然聚集体，这些生物表现出远远超出个人能力和范围的复杂涌现行为。这些行为主要源于短程化学和机械相互作用。过去的工作主要集中在类似于化学品的无线通信上，然而，物理相互作用需要从刚性转向柔软，耐用的机器人，能够诱导和测量应变。在这里，我们提供了一个平台来支持这些研究。硬件由独立的、软的、能够径向膨胀和收缩的气动机器人组成。这种机器人生产成本低，速度快;它们有3个方向应变传感器和6个磁铁对，可以与相邻的机器人松散耦合。我们的特点是力剖面，传感器，弹性模量，磁相互作用，以及探索性的总运动。最后，我们展示了他们的能力，同步，同步，断裂在一个免费的准静态模拟器，耦合振荡器模型，并讨论评估指标。我们希望这个平台将有助于进一步了解本地知情代理之间的简单物理交互如何导致复杂的紧急行为。
Many modular robots and active matter platforms are inspired by natural aggregates of single-celled organisms that exhibit complex emergent behaviors far beyond the capability and range of individuals. These behaviors stem primarily from short range chemical and mechanical interactions. Past work has focused largely on wireless communication akin to chemicals, however, physical interactions require a shift from rigid to soft, durable robots capable of inducing and measuring strain. Here, we present a platform to support such studies. The hardware consists of stand-alone, soft, pneumatic robots capable of radial expansion and contraction. The robots are cheap and fast to produce; they have 3 directional strain sensors, and 6 magnet pairs to loosely couple with their neighbors. We characterize force profiles, sensors, elastic modulus, magnetic interaction, as well as exploratory aggregate motions. Finally, we demonstrate their ability to synchronize, locomote, and fracture in a complimentary quasi-static simulator, with a coupled oscillator model, and discuss evaluation metrics. We hope that this platform will serve to further insights on how simple physical interactions between locally informed agents may lead to complex emergent behaviors.