Morphing Robots Using Robotic Skins That Sculpt Clay
Morphing Robots Using Robotic Skins That Sculpt Clay
复制标题
使用可雕刻粘土的机器人皮肤来变形机器人
DOI：
10.1109/lra.2019.2902019
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发表时间：
2019
影响因子：
5.2
通讯作者：
Kramer-Bottiglio, Rebecca
中科院分区：
文献类型：
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作者：
Shah, Dylan S.;Yuen, Michelle C.;Tilton, Liana G.;Yang, Ellen J.;Kramer-Bottiglio, Rebecca
形状的多样性是许多动物在自然界中有效互动和运动的一种机制。为了实现形状变化的人工系统的目标，我们提出了变形机器人组成的机器人皮肤和可雕刻的材料。在这里，我们描述了机器人皮肤平面，皮肤状基板与嵌入式驱动器，是围绕雕刻材料，以积极塑造这些材料成不同的形式。我们的方法受到雕塑艺术的启发，手工施加的表面张力和压力使粘土可以雕刻成几乎任何想要的形状。用机器人皮肤代替手，我们在机器人系统中实现了变形能力。我们专注于一个例子机器人，其中两个机器人皮肤分层的基础雕塑材料诱导运动和变形行为，并表明变形使机器人能够克服运动过程中的障碍。这封信是变形机器人的第一个实例，基于雕塑灵感的可雕塑材料的表面操作，其中形状变化的能力预计将提高机器人的适应性，以满足不断变化的环境的需求，克服障碍，或执行可变的任务。
Shape versatility is a mechanism that many animals leverage to effectively interact-with and locomote-within the natural world. Toward the goal of shape-changing artificial systems, we present morphing robots comprised of robotic skins and sculptable materials. Herein, we describe robotic skins—planar, skin-like substrates with embedded actuation—that are wrapped around sculptable materials in order to actively shape those materials into different forms. Our approach is inspired by the art of sculpture, where surface strains and pressures applied by hand allow clay to be sculpted into nearly any desired shape. Replacing hands with robotic skins, we achieve morphing capabilities in a robotic system. We focus on an example robot in which two robotic skins are layered on a base sculptable material to induce both locomotion and morphing behaviors, and show that morphing enables the robot to overcome obstacles during locomotion. This letter is the first instantiation of morphing robots based on sculpture-inspired surface manipulation of sculptable materials, where shape-changing capabilities are expected to improve robot adaptability to meet the demands of changing environments, overcome obstacles, or perform variable tasks.
影响因子：
4.6
作者：
Kriegman S;Cheney N;Bongard J
通讯作者：
Bongard J