Closing the Loop with Liquid-Metal Sensing Skin for Autonomous Soft Robot Gripping
Closing the Loop with Liquid-Metal Sensing Skin for Autonomous Soft Robot Gripping
复制标题
使用液态金属传感皮肤闭合回路，实现自主软机器人抓取
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
C. Majidi
中科院分区：
文献类型：
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作者：
Jessica Yin;T. Hellebrekers;C. Majidi
由于缺乏将传感和驱动紧密结合在一起的多通道传感能力和材料结构，软机器人在高层决策和反馈控制方面往往受到限制。然而，最近弹性多模式传感皮肤的发展为软机器人系统中的闭合回路创造了机会。在这项工作中，我们提出了一种基于传感器的有限状态机，用于安装在四自由度机械臂上的软传感抓取器。软夹爪通过激活形状记忆合金弹簧在二进制打开和关闭状态之间动作，并包含接近、压力和方向传感器。通过传感器反馈驱动的扫描、抓取和分拣任务，演示了闭环控制。使用飞行时间距离传感器，该系统可以计算出60 mm x 25 mm工作空间内对象的长度、宽度、高度和质心。利用飞行时间距离传感器、压力传感器和惯性测量单元，系统可以检测和响应干扰物体抓取、释放和运输的外部扰动。本文所展示的控制策略可以在将来扩展，以集成到其他软机器人系统中。
Soft robots are often limited in high-level decision making and feedback control due to a lack of multimodal sensing capabilities and material architectures that tightly integrate sensing and actuation. However, the recent development of elastic multimodal sensing skins has created the opportunity for closing the loop in soft robotic systems. In this work, we present a sensor-based finite state machine for a soft sensorized gripper mounted to a 4-degree-of-freedom robot arm. The soft gripper actuates between binary open and close states by activating shape-memory alloy springs, and contains proximity, pressure, and orientation sensors. The closed-loop control is demonstrated through scanning, grasping, and sorting tasks driven by sensor feedback. Using a time-of-flight distance sensor, the system can calculate the length, width, height, and center of mass of an object within a 60 mm x 25 mm workspace. With the time-of-flight distance sensor, pressure sensors, and inertial measurement unit, the system can detect and respond to external perturbations that interfere with the grasp, release, and transport of the object. The control strategy demonstrated in this paper can be expanded in the future to integrate basic autonomy in other soft robot systems.
影响因子：
25
作者：
Justus, Kyle B.;Hellebrekers, Tess;Tan, Cheemeng
通讯作者：
Tan, Cheemeng