EFRI C3 SoRo: Muscle-like Cellular Architectures and Compliant, Distributed Sensing and Control for Soft Robots

EFRI C3 SoRo：软机器人的类肌肉细胞架构和兼容的分布式传感和控制

基本信息

批准号：
1832795
负责人：
Aaron Dollar
金额：
$ 200万
依托单位：
Yale 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：
2018-12-01 至 2023-05-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1832795&HistoricalAwards=false
关键词：
EFRI C3 SoRo Muscle like

项目摘要

This project will create a systematic and scalable approach to the design and construction of soft robots. Soft robots have many potential advantages over traditional rigid robots, such as being able to interact safely with people and their surroundings. This project will accelerate the deployment of practical soft robots by exploring modular configurations inspired by natural muscles. Muscular structures can achieve extraordinary feats of dexterity and manipulation even in the absence of a rigid skeleton, with elephant trunks, cephalopod tentacles, and mammalian tongues as prominent examples. Biological muscles operate with hundreds to thousands of individual actuating units and multiple channels for sensing. This research will take inspiration from the structure of biological muscle to construct dexterous, flexible and highly controllable actuators, with distributed sensing, computation, and communication integrated throughout. This project draws inspiration from biology for the investigation and development of a new class of soft robots that are modular and hierarchically arranged. Soft, muscle-cell-like units will be developed that can be inexpensively fabricated at a range of sizes, and implemented en masse to produce customized compliant and continuum robotic structures. Methods will be explored to utilize simple linear actuators to produce complex spatial deformation. Implementation of passive stiffening elements, such as fibers, throughout the soft structures will be evaluated for improving output motion and stiffness relative to what can be produced by the soft structure and actuators alone. The research team will also investigate sensing, power, and control of these systems through the development of electric and magnetic field-based sensors that obviate the need for extensive wiring. Finally, the research team will investigate the modeling and control of the soft, muscle-like structures in order to enable effective planning and execution of mechanically complex manipulation and locomotion tasks. The proposed new approaches for wireless power, sensing, and control of soft robots have the potential to be broadly applicable to many soft robotic architectures and to change the approaches commonly utilized in the field.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.

该项目将为软机器人的设计和构建创造一种系统可扩展的方法。软机器人比传统的刚性机器人具有许多潜在的优势，例如能够与人及其周围环境安全互动。该项目将通过探索受天然肌肉启发的模块化配置来加速实用软机器人的部署。即使没有刚性骨骼，肌肉结构也可以实现敏捷性和操纵的非凡壮举，并带有大象躯干，头足动物的触角和哺乳动物的舌头作为杰出的例子。生物肌肉具有数百至成千上万个单独的驱动单元和多个传感渠道。这项研究将从生物肌肉的结构中汲取灵感，以构建灵活性，灵活和高度可控的执行器，并通过整合的分布式感应，计算和通信。该项目从生物学中汲取灵感，以调查和开发一个新的软机器人，这些机器人是模块化和分层安排的。将开发出柔软的肌肉细胞状单元，可以在各种尺寸的范围内廉价地制造出来，并实施了群体以生成定制的符合性和连续性机器人结构。将探索方法以利用简单的线性致动器来产生复杂的空间变形。在整个软结构中，将评估被动僵硬元件（例如纤维）的实施，以改善相对于仅软结构和执行器可以产生的刚度，以提高输出运动和刚度。研究团队还将通过开发基于电场和磁场的传感器来调查这些系统的传感，功率和控制，从而消除对广泛接线的需求。最后，研究团队将研究柔软的肌肉样结构的建模和控制，以便有效地计划和执行机械复杂的操纵和运动任务。提议的无线功率，感应和控制软机器人的新方法具有广泛适用于许多软机器人体系结构的可能性，并改变了现场中通常使用的方法。该奖项反映了NSF的法定任务，并认为通过使用该基金会的知识分子和更广泛的影响来评估CRITERIA CRITERIA CRITERIA。

项目成果

期刊论文数量（20）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry

DOI：
10.1109/icra.2019.8793959
发表时间：
2019-01-01
期刊：
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
影响因子：
0
作者：
Lancaster, Patrick E.;Smith, Joshua R.;Srinivasa, Siddhartha S.
通讯作者：
Srinivasa, Siddhartha S.

Passive skeletal muscle can function as an osmotic engine

被动骨骼肌可以充当渗透引擎

DOI：
10.1098/rsbl.2020.0738
发表时间：
2021
期刊：
Biology Letters
影响因子：
3.3
作者：
Wold, Ethan S.;Sleboda, David A.;Roberts, Thomas J.
通讯作者：
Roberts, Thomas J.

Motivating Physical Activity via Competitive Human-Robot Interaction

DOI：
发表时间：
2022-02
期刊：
ArXiv
影响因子：
0
作者：
Boling Yang;Golnaz Habibi;Patrick E. Lancaster;Byron Boots;Joshua R. Smith
通讯作者：
Boling Yang;Golnaz Habibi;Patrick E. Lancaster;Byron Boots;Joshua R. Smith

Mechanical Characterization of Compliant Cellular Robots. Part I: Passive Stiffness

顺应性蜂窝机器人的机械特性。

DOI：
10.1115/1.4054615
发表时间：
2023
期刊：
Journal of Mechanisms and Robotics
影响因子：
0
作者：
Singh, Gaurav;Nawroj, Ahsan;Dollar, Aaron M.
通讯作者：
Dollar, Aaron M.

Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation

DOI：
10.1109/iros47612.2022.9981692
发表时间：
2022-04
期刊：
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
0
作者：
Patrick E. Lancaster;Pratik Gyawali;Christoforos Mavrogiannis;S. Srinivasa;Joshua R. Smith
通讯作者：
Patrick E. Lancaster;Pratik Gyawali;Christoforos Mavrogiannis;S. Srinivasa;Joshua R. Smith