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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.

这个项目将创建一个系统的和可扩展的方法来设计和建造软机器人。与传统的刚性机器人相比，软体机器人有许多潜在的优势，比如能够安全地与人和周围环境互动。该项目将通过探索受自然肌肉启发的模块化结构，加速实用软体机器人的部署。即使没有坚硬的骨骼，肌肉结构也能实现非凡的灵巧和操纵壮举，大象的鼻子、头足类动物的触手和哺乳动物的舌头就是突出的例子。生物肌肉有数百到数千个单独的驱动单元和多个传感通道。本研究将从生物肌肉的结构中获得灵感，构建灵活、灵活、高度可控的执行器，并将分布式传感、计算和通信集成在一起。该项目从生物学中获得灵感，用于研究和开发一种新型模块化和分层排列的软体机器人。柔软的、类似肌肉细胞的单元将被开发出来，可以廉价地制造各种尺寸，并批量生产定制的柔顺和连续的机器人结构。探索利用简单线性致动器产生复杂空间变形的方法。相对于仅由软结构和执行器产生的输出运动和刚度，将评估在整个软结构中实施被动加强元件（如纤维）的效果。研究小组还将通过开发基于电场和磁场的传感器来研究这些系统的传感、电力和控制，从而避免了对大量布线的需要。最后，研究小组将研究软性肌肉样结构的建模和控制，以便有效地规划和执行机械复杂的操作和运动任务。提出的软机器人无线供电、传感和控制的新方法有可能广泛应用于许多软机器人体系结构，并改变该领域常用的方法。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

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）

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

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.

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

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

顺应性蜂窝机器人的机械特性。