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.
这个国家机器人计划(NRI)项目将通过开发一种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的进步和国家的繁荣。仿生肌肉执行器,或机器人肌肉,是一种非常接近自然界中生物肌肉特性的执行器。在不同的肌肉驱动器中,驱动器的选择和设计以及建模和控制行为和特性方面存在一系列共同的挑战。该奖项支持识别和统一建模,控制和设计策略,以降低肌肉驱动机器人研究的障碍。 为设计师降低机器人肌肉风险的一项重大努力是创建一个机器人肌肉工具包,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推广民主化。设计挑战和竞赛将激发对机器人肌肉感兴趣的人的兴趣和社区建设,从K-12到大学生和研究人员。 在圣地亚哥和大波士顿地区社区的推广计划的本地安排,以激起对机器人的兴趣,为代表性不足的minority.A新颖的,数据驱动的过程和结构参数化的一组共同的仿生功能,定义肌肉驱动将被开发,以锚建模,控制和设计策略,在所谓的性能和配置空间。这些方法可以跨肌肉类型使用,并且可以推广到目前可用的肌肉致动器之外。有一个策略,肌肉选择的多维性能标准,结合了经验数据和物理模型。肌肉配置放大沿着这些性能尺寸的设计策略,概括在肌肉,将进行调查。新的技术将能够很容易地加入到这个框架中,以进行定量比较研究,而无需复制黄金标准的执行器。这个奖项反映了NSF的法定使命,并已被认为是值得通过使用基金会的智力价值和更广泛的影响审查标准进行评估的支持。

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
P1.06-032 The Humanistic Burden of Advanced Non-Small Cell Lung Cancer Patients in Europe - A Real World Survey: Topic: Advanced General
  • DOI:
    10.1016/j.jtho.2016.11.896
  • 发表时间:
    2017-01-01
  • 期刊:
  • 影响因子:
  • 作者:
    Gavin Taylor-Stokes;Robert Wood;Bill Malcolm;Michael Lees;Oana Chirita
  • 通讯作者:
    Oana Chirita
Airway Epithelial Gene Expression Differs Across Urban Childhood Asthma Phenotypes
  • DOI:
    10.1016/j.jaci.2020.12.167
  • 发表时间:
    2021-02-01
  • 期刊:
  • 影响因子:
  • 作者:
    Matthew Altman;Edward Zoratti;Andrew Liu;Jacqueline Pongracic;Jessica Gereige;Robert Wood;Gurjit Khurana Hershey;Carolyn Kercsmar;Rebecca Gruchalla;Meyer Kattan;Stephen Teach;Alyssa Ylescupidez;Steve Sigelman;Peter Gergen;Alkis Togias;Cynthia Visness;Scott Presnell;James Gern;William Busse;Dan Jackson
  • 通讯作者:
    Dan Jackson

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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