NRI: FND: COLLAB: A Foundational Approach to Muscle Actuators that Lowers Barriers to Muscle-Powered Robotics Research

NRI:FND:COLLAB:肌肉驱动器的基础方法,降低肌肉动力机器人研究的障碍

基本信息

  • 批准号:
    1830291
  • 负责人:
  • 金额:
    $ 36.08万
  • 依托单位:
  • 依托单位国家:
    美国
  • 项目类别:
    Standard Grant
  • 财政年份:
    2018
  • 资助国家:
    美国
  • 起止时间:
    2018-09-01 至 2022-08-31
  • 项目状态:
    已结题

项目摘要

This National Robotics Initiative (NRI) project will promote the progress of science and advance the national prosperity by developing a foundational approach towards muscle-powered machines that move using biomimetic muscle actuators. Biomimetic muscle actuators, or robot muscles, are actuators that closely mimic the properties of biological muscles in nature. A common set of challenges in actuator selection and design, and modeling and controlling behaviors and properties emerge among different muscle actuators. This award supports identifying and unifying modeling, control, and design strategies that would lower the barrier to muscle-powered robotics research. A significant effort to de-risk robot muscles for designers is the creation of a robot muscles toolkit, an accessible software and hardware toolkit for designing muscle-powered machines and for democratizing the development and proliferation of these technologies at a broad scale. Design challenges and competitions will spur the interests and community building for those interested in robot muscles across all ages and experiences, from K-12 to college students and researchers. Local arrangements for outreach in the San Diego and Greater Boston Area communities are planned for stirring interest in robotics for underrepresented minorities.A novel, data-driven process and structure for parameterizing a common set of biomimetic features that define muscle actuation will be developed in order to anchor modeling, control, and design strategies across a so-called performance and configuration space. These methods can be employed across muscle types and generalize beyond currently available muscle actuators. There is a strategy for muscle selection over multi-dimensional performance criteria that incorporates both empirical data and physics models. Design strategies for muscle configurations for amplification along these performance dimensions, generalizable across muscles, will be investigated. New technologies will be able to be easily added into this framework to perform quantitative comparison studies without replication of gold standard actuators.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.
这一国家机器人倡议(NRI)项目将通过开发使用仿生肌肉执行器移动的肌肉动力机器的基础方法来促进科学进步和国家繁荣。仿生肌肉执行器,或称机器人肌肉,是一种接近模仿自然界中生物肌肉特性的执行器。在不同的肌肉执行器之间,在执行器的选择和设计、建模和控制行为和属性方面出现了一系列共同的挑战。该奖项支持确定和统一建模、控制和设计策略,以降低肌肉驱动机器人研究的门槛。为设计师降低机器人肌肉风险的一项重大努力是创建机器人肌肉工具包,这是一个可访问的软件和硬件工具包,用于设计肌肉驱动的机器,并使这些技术的开发和扩散在广泛的范围内民主化。设计挑战和比赛将刺激那些对机器人肌肉感兴趣的人的兴趣和社区建设,这些人来自各个年龄段和经历,从K-12到大学生和研究人员。计划在圣地亚哥和大波士顿地区社区进行当地的外联安排,以激发未被充分代表的少数民族对机器人技术的兴趣。将开发一种新颖的、数据驱动的过程和结构,用于将定义肌肉驱动的一组常见仿生特征参数化,以便在所谓的性能和配置空间中锚定建模、控制和设计策略。这些方法可以应用于肌肉类型,并推广到目前可用的肌肉执行器之外。有一种肌肉选择的策略,它结合了经验数据和物理模型,超过了多维性能标准。将研究肌肉结构的设计策略,以便沿着这些性能维度进行放大,并可在肌肉中推广。新技术将能够很容易地添加到这个框架中,以执行定量的比较研究,而不需要复制黄金标准执行器。该奖项反映了NSF的法定使命,并通过使用基金会的智力优势和更广泛的影响审查标准进行评估,被认为值得支持。

项目成果

期刊论文数量(4)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Robotic Artificial Muscles: Current Progress and Future Perspectives
  • DOI:
    10.1109/tro.2019.2894371
  • 发表时间:
    2019-06-01
  • 期刊:
  • 影响因子:
    7.8
  • 作者:
    Zhang, Jun;Sheng, Jun;Yip, Michael C.
  • 通讯作者:
    Yip, Michael C.
Controlled flight of a microrobot powered by soft artificial muscles
  • DOI:
    10.1038/s41586-019-1737-7
  • 发表时间:
    2019-11-14
  • 期刊:
  • 影响因子:
    64.8
  • 作者:
    Chen, Yufeng;Zhao, Huichan;Wood, Robert J.
  • 通讯作者:
    Wood, Robert J.
A dynamic electrically driven soft valve for control of soft hydraulic actuators
  • DOI:
    10.1073/pnas.2103198118
  • 发表时间:
    2021-08
  • 期刊:
  • 影响因子:
    0
  • 作者:
    Siyi Xu;Yufeng Chen;N. P. Hyun;Kaitlyn P. Becker;R. Wood
  • 通讯作者:
    Siyi Xu;Yufeng Chen;N. P. Hyun;Kaitlyn P. Becker;R. Wood
Microrobotic laser steering for minimally invasive surgery
  • DOI:
    10.1126/scirobotics.abd5476
  • 发表时间:
    2021-01
  • 期刊:
  • 影响因子:
    25
  • 作者:
    Peter A. York;Rut Peña;D. Kent;R. Wood
  • 通讯作者:
    Peter A. York;Rut Peña;D. Kent;R. Wood
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Robert Wood其他文献

Aitken Mode Aerosols Buffer Decoupled Mid-latitude Boundary Layer Clouds Against Precipitation Depletion
艾特肯模式气溶胶缓冲解耦中纬度边界层云免受降水消耗
  • DOI:
  • 发表时间:
  • 期刊:
  • 影响因子:
    0
  • 作者:
    I. McCoy;M. Wyant;P. Blossey;C. Bretherton;Robert Wood
  • 通讯作者:
    Robert Wood
Improving Community Health through Hospital-Public Health Collaboration: Insights and Lessons Learned from Successful Partnerships
通过医院与公共卫生合作改善社区健康:从成功的合作伙伴关系中汲取的见解和经验教训
  • DOI:
  • 发表时间:
    2014
  • 期刊:
  • 影响因子:
    0
  • 作者:
    Lawrence Prybil;F. Scutchfield;Rex Killian;Ann V. Kelly;G. Mays;Angela L. Carman;S. Levey;D. Fardo;Grant Thornton Llp;Robert Wood;Johnson Foundation;Lawrence Prybil;Norton Professor;Healthcare Leadership;Douglas F Scutchfield;Bosomworth Professor;Rich Umbdenstock;R. Pestronk;Paul E. Jarris
  • 通讯作者:
    Paul E. Jarris
Abrupt reduction in shipping emission as an inadvertent geoengineering termination shock produces substantial radiative warming
由于无意的地球工程终止冲击产生大量辐射变暖,导致航运排放突然减少
  • DOI:
  • 发表时间:
    2024
  • 期刊:
  • 影响因子:
    7.9
  • 作者:
    Tianle Yuan;Hua Song;L. Oreopoulos;Robert Wood;H. Bian;Katherine H. Breen;Mian Chin;Hongbin Yu;Donifan Barahona;Kerry Meyer;Steven Platnick
  • 通讯作者:
    Steven Platnick
Expanding Access To Rural Healthcare Services And Benefits Through Secure, Interactive Video Links: A Case Study Of Video Claims Taking Implementation In The Great Plains
通过安全的交互式视频链接扩大农村医疗保健服务和福利的覆盖范围:在大平原实施视频索赔的案例研究
  • DOI:
    10.19030/ajhs.v2i2.6624
  • 发表时间:
    2011
  • 期刊:
  • 影响因子:
    0
  • 作者:
    D. Harsell;Christine Harsell;Robert Wood
  • 通讯作者:
    Robert Wood

Robert Wood的其他文献

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{{ truncateString('Robert Wood', 18)}}的其他基金

Analysis of G-V Aircraft and Complementary SOCRATES Observations to Understand Clouds, Aerosols and their Interactions Over the Southern Ocean
分析 G-V 飞机和补充苏格拉底观测以了解南大洋上空的云、气溶胶及其相互作用
  • 批准号:
    1660609
  • 财政年份:
    2017
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Continuing Grant
Collaborative Research: IDBR: TYPE A: Development of Squishy Robot Hands for a Delicate, Effective and Non-Intrusive Approach to Studying Deep Coral Reefs
合作研究:IDBR:A 型:开发 Squishy 机器人手,以精致、有效且非侵入性的方式研究深部珊瑚礁
  • 批准号:
    1556164
  • 财政年份:
    2016
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Continuing Grant
Collaborative Research: A Combustion-Powered, Flapping-Wing Micro Air Vehicle
合作研究:燃烧动力扑翼微型飞行器
  • 批准号:
    1537715
  • 财政年份:
    2015
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Standard Grant
RI: Medium: Collaborative Research: Novel microLIDAR Design and Sensing Algorithms for Flapping-Wing Micro-Aerial Vehicles
RI:中:合作研究:扑翼微型飞行器的新型 microLIDAR 设计和传感算法
  • 批准号:
    1514306
  • 财政年份:
    2015
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Continuing Grant
Collaborative Research: Cloud System Evolution in the Trades
合作研究:行业云系统演进
  • 批准号:
    1445813
  • 财政年份:
    2014
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Continuing Grant
NSF Expeditions in Computing PI Meeting
NSF 计算 PI 探险会议
  • 批准号:
    1339709
  • 财政年份:
    2013
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Standard Grant
2012 Waterman Award
2012年沃特曼奖
  • 批准号:
    1251729
  • 财政年份:
    2012
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Standard Grant
Interactions of Aerosols, Marine Boundary Layer Clouds, and Precipitation During the VOCALS-Regional Experiment: Observations, Modeling, and Large-scale Model Assessment
VOCALS 区域实验期间气溶胶、海洋边界层云和降水的相互作用:观测、建模和大型模型评估
  • 批准号:
    1242639
  • 财政年份:
    2012
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Standard Grant
NRI-Large: Collaborative Research: Soft Compliant Robotic Augmentation for Human-Robot Teams
NRI-Large:协作研究:人机团队的软兼容机器人增强
  • 批准号:
    1226075
  • 财政年份:
    2012
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Continuing Grant
Interdisciplinary Reseach Experiences for Teachers
教师的跨学科研究经验
  • 批准号:
    1061811
  • 财政年份:
    2011
  • 资助金额:
    $ 36.08万
  • 项目类别:
    Continuing Grant

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Novosphingobium sp. FND-3降解呋喃丹的分子机制研究
  • 批准号:
    31670112
  • 批准年份:
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  • 资助金额:
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  • 批准号:
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