EFRI C3 SoRo: An End-To-End Framework For Soft Robot Design And Control Based On High-Performance Electrohydraulic Transducers

EFRI C3 SoRo：基于高性能电液传感器的软机器人设计和控制的端到端框架

• 批准号: 1830924
• 负责人: Robert Shepherd
• 金额: $ 200万
• 依托单位: Cornell University
• 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 2023-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830924&HistoricalAwards=false
• 关键词: EFRI; C3; SoRo; End; Framework

This project will advance a new class of motors for soft robots, based on the electrically driven pumping of liquid. These motor units, called HASELs (hydraulically amplified self-healing electrostatic actuators), have the potential to enable practical and useful soft robots for safe interactions with humans. Robot components such as hands and legs will be designed and manufactured using 3D printing. Effective 3D printing designs, and control software developed in the project will be made available for public download and use. An important outcome of this project will be engineering design principles and useful tools that will allow citizen scientists to proliferate useful robots in the future. This project provides a framework for the widespread adoption of HASELs by addressing their manufacturing, power, and control in easily replicated motifs that will be made available to the public in free online databases. Additionally, frontier research will be explored to further improve the state of the art in terms of efficiency, power density, distributed computation, sensing, and actuation. In order to achieve these goals, the project will leverage this rare opportunity for a coordinated, multidisciplinary effort between experts in physics, material science, microelectronic engineering, as well as low- and high-level controls. HASELs represent the first electrostatic soft actuators that are stable and useful enough for broad adoption by experts and non-experts alike. HASELs are stretchable capacitors with a liquid dielectric. When voltage is applied, the electrodes pull together and pump the dielectric liquid, combining the benefits of fluidically pressurized actuators with the convenience of direct electrical power. The self-healing ability of the dielectric liquid allows for repeated use in circumstances impermissible in other electrostatic actuators. This project will be a four-year effort that uses increasingly complex device demonstrations as milestones. These milestones will demonstrate annual improvements in three key areas: (i) Reproducible and Reliable Fabrication of Electrohydraulic Robots; (ii) Distributed Microscale Power & Computation; (iii) Design & Control of HASEL Robots.This project is jointly sponsored by the National Science Foundation, Office of Emerging Frontiers and Multidisciplinary Activities (EFMA) and the US Air Force Office of Scientific Research (AFOSR).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.

这个项目将推进一种新型的软机器人电机，基于电动泵送液体。这些运动单元被称为HASELs（液压放大自愈静电致动器），有可能使实用和有用的软机器人与人类安全互动。机器人的手和腿等部件将使用3D打印设计和制造。该项目开发的有效3D打印设计和控制软件将可供公众下载和使用。这个项目的一个重要成果将是工程设计原则和有用的工具，这将使公民科学家在未来繁殖有用的机器人。该项目为hasel的广泛采用提供了一个框架，解决了hasel的制造、功率和控制问题，这些问题将在免费的在线数据库中向公众提供。此外，还将探索前沿研究，以进一步提高效率、功率密度、分布式计算、传感和驱动方面的技术水平。为了实现这些目标，该项目将利用这一难得的机会，在物理学、材料科学、微电子工程以及低级和高级控制方面的专家之间进行协调的多学科努力。HASELs代表了第一个稳定和有用的静电软执行器，可供专家和非专家广泛采用。hasel是具有液体介质的可拉伸电容器。当施加电压时，电极拉在一起并泵送介电液体，将流体加压执行器的优点与直接电力的便利性结合起来。介电液体的自愈能力允许在其他静电致动器不允许的情况下重复使用。该项目将持续四年，以日益复杂的设备演示为里程碑。这些里程碑将展示三个关键领域的年度改进：(i)可重复和可靠的电液机器人制造；（ii）分布式微尺度功率计算；（iii） HASEL机器人的设计与控制。该项目由美国国家科学基金会、新兴前沿和多学科活动办公室（EFMA）和美国空军科学研究办公室（AFOSR）联合赞助。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值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

Resilient Task Planning and Execution for Reactive Soft Robots

反应式软机器人的弹性任务规划和执行

• DOI: 10.1109/icra.2019.8794303
• 发表时间: 2019
• 期刊: IEEE International Conference on Robotics and Automation
• 作者: Hamill, Scott;Whitehead, John;Ferenz, Peter;Shepherd, Robert F.;Kress-Gazit, Hadas
• 通讯作者: Kress-Gazit, Hadas

3D Printed Pyroelectric Lithium-Niobate High Voltages Source with Pull-in Regulated Output

具有吸合调节输出的 3D 打印热释电铌酸锂高压源

• DOI: 10.1109/mems46641.2020.9056438
• 发表时间: 2020
• 期刊: IEEE MEMS 2020
• 作者: Ni, Di;Davaji, Benyamin;Shepherd, Robert;Lal, Amit
• 通讯作者: Lal, Amit

Stretchable distributed fiber-optic sensors

• DOI: 10.1126/science.aba5504
• 发表时间: 2020-11-13
• 期刊: SCIENCE
• 影响因子: 56.9
• 作者: Bai, Hedan;Li, Shuo;Shepherd, Robert F.
• 通讯作者: Shepherd, Robert F.

Rapid 3D Printing of Electrohydraulic (HASEL) Tentacle Actuators

• DOI: 10.1002/adfm.202005244
• 发表时间: 2020-08-18
• 期刊: ADVANCED FUNCTIONAL MATERIALS
• 影响因子: 19
• 作者: O'Neill, Maura R.;Acome, Eric;Shepherd, Robert F.
• 通讯作者: Shepherd, Robert F.

Powerful, soft combustion actuators for insect-scale robots

• DOI: 10.1126/science.adg5067
• 发表时间: 2023-09
• 期刊: Science
• 影响因子: 56.9
• 作者: C. A. Aubin;Ronald H. Heisser;Ofek Peretz;Julia Timko;Jacqueline Lo;E. F. Helbling;Sadaf Sobhani;A. Gat;Robert F. Shepherd