Granular Jamming Feet Enable Improved Foot-Ground Interactions for Robot Mobility on Deformable Ground
Granular Jamming Feet Enable Improved Foot-Ground Interactions for Robot Mobility on Deformable Ground
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DOI：
10.1109/lra.2020.2982361
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发表时间：
2020-07-01
影响因子：
5.2
通讯作者：
Gravish, Nick
中科院分区：
文献类型：
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作者：
Chopra, Shivam;Tolley, Michael T.;Gravish, Nick
最近的研究动态腿运动的重点是将被动顺应元件纳入机器人腿，可以帮助能源效率和稳定性，使他们能够在广泛的环境中工作。在这项工作中，我们提出了一个软机器人脚的设计和测试能够主动刚度控制使用颗粒干扰。这只脚的设计和测试是在柔软，易流动的地面上使用，如沙子。颗粒状卡脚在与地面接触时能够被动地改变脚的形状，以适应不平坦的表面，并且还可以主动地改变刚度以施加足够的推进力。我们试图研究的作用，形状变化和刚度变化的脚与地面的相互作用，在脚落的影响和剪切。我们已经测量了在冲击过程中的加速度，表面牵引力，以及将脚从介质中拉出的力，用于脚的不同状态。我们已经证明，使用建议的脚设计的脚刚度和形状的控制，导致改进的运动，特别是一个约52减少脚减速关节后的影响，63减少的深度渗透在沙子上的影响，更高的剪切力的能力为一个恒定的深度以上的地面，和98减少拔出力相比，刚性脚。
Recent studies on dynamic legged locomotion have focused on incorporating passive compliant elements into robot legs which can help with energy efficiency and stability, enabling them to work in wide range of environments. In this work, we present the design and testing of a soft robotic foot capable of active stiffness control using granular jamming. This foot is designed and tested to be used on soft, flowable ground such as sand. Granular jamming feet enable passive foot shape change when in contact with the ground for adaptability to uneven surfaces, and can also actively change stiffness for the ability to apply sufficient propulsion forces. We seek to study the role of shape change and stiffness change in foot-ground interactions during foot-fall impact and shear. We have measured the acceleration during impact, surface traction force, and the force to pull the foot out of the medium for different states of the foot. We have demonstrated that the control of foot stiffness and shape using the proposed foot design leads to improved locomotion, specifically a approximate to 52 reduced foot deceleration at the joints after impact, 63reduced depth of penetration in the sand on impact, higher shear force capabilities for a constant depth above the ground, and 98 reduced pullout force compared to a rigid foot.