Soft Lattice Modules That Behave Independently and Collectively
Soft Lattice Modules That Behave Independently and Collectively
复制标题
DOI：
10.1109/lra.2022.3160611
复制
发表时间：
2021-10
影响因子：
5.2
通讯作者：
Luyang Zhao;Yijia Wu;Julien Blanchet;Maxine Perroni-Scharf;Xiaonan Huang;Joran W. Booth;Rebecca Kramer‐Bottiglio;Devin J. Balkcom
中科院分区：
文献类型：
--
作者：
Luyang Zhao;Yijia Wu;Julien Blanchet;Maxine Perroni-Scharf;Xiaonan Huang;Joran W. Booth;Rebecca Kramer‐Bottiglio;Devin J. Balkcom
自然系统将许多子单位（细胞）的工作整合到一个大规模的统一目标（形态和行为）中，这可以抵消意外经历，损伤或任务需求变化的影响。在这封信中，我们利用软，模块化和张拉整体机器人所带来的机会，引入软晶格模块，平行于生物系统中的子单元。软格模块由3D打印的塑料“骨架”、线性收缩形状记忆合金弹簧致动器和永磁体组成，可实现模块之间的粘附。软格构模块能够独立运动，并且还可以与其他模块结合以实现集体的、自组装的、更大规模的任务，诸如集体运动和使物体在格构组件的表面上移动。这项工作代表了一个初步的软模块化系统能够独立和集体的行为，并提供了一个平台，为未来的分布式控制的研究。
Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this letter, we exploit the opportunities presented by soft, modular, and tensegrity robots to introduce soft lattice modules that parallel the sub-units seen in biological systems. The soft lattice modules are comprised of 3D printed plastic “skeletons,” linear contracting shape memory alloy spring actuators, and permanent magnets that enable adhesion between modules. The soft lattice modules are capable of independent locomotion, and can also join with other modules to achieve collective, self-assembled, larger scale tasks such as collective locomotion and moving an object across the surface of the lattice assembly. This work represents a preliminary step toward soft modular systems capable of independent and collective behaviors, and provide a platform for future studies on distributed control.