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EAGER: Controlled Pulsed-Combustion-Based Actuation for Soft Robots

EAGER：基于受控脉冲燃烧的软体机器人驱动

基本信息

批准号：
1833497
负责人：
Nestor Perez-Arancibia
金额：
$ 10万
依托单位：
University of Southern California
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：
2018-08-01 至 2021-07-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1833497&HistoricalAwards=false
关键词：
EAGER Controlled Pulsed Combustion Based

项目摘要

This EArly-concept Grant for Exploratory Research (EAGER) project explores the use of combustion to power soft robots. Chemical fuels use much less mass and volume compared to batteries with the same energy, and combustion can be used to generate large forces. However, combustion-based systems are at a much lower state of maturity than electromechanical solutions. This high-risk project will contribute to three key elements for the realization of soft robots powered by rapid chemical reactions: 1) a model for the robot dynamics, 2) a design framework for the actuators, and 3) a theory of control synthesis for obtaining desired motions. This project will advance the national welfare by enabling the creation of low-cost soft robots for applications such as search and rescue and environmental monitoring. The creation of fast, powerful and autonomous soft robots, capable of performing complex and precise tasks, requires the invention of new actuation and control methods. In order to achieve this vision, this project will introduce a systems-and-control-based methodology for the development of controllable modular robots composed of autonomous pulsed-combustion-powered soft modules, capable of exerting large periodic forces at high speeds. This objective will be achieved by introducing new approaches for the control of pulsed explosions for actuation, the use and advancement of modern and optimal techniques for the control of pulsed-combustion driven soft actuators, and the development of new real-time methods for the control of modular soft robots.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.

这个早期概念探索性研究资助 (EAGER) 项目探索利用燃烧为软机器人提供动力。与相同能量的电池相比，化学燃料使用的质量和体积要少得多，并且燃烧可以产生很大的力。然而，基于燃烧的系统的成熟度远低于机电解决方案。这个高风险项目将有助于实现由快速化学反应驱动的软机器人的三个关键要素：1）机器人动力学模型，2）执行器的设计框架，3）用于获得所需运动的控制综合理论。该项目将通过创建用于搜索救援和环境监测等应用的低成本软机器人来促进国家福利。创造快速、强大、自主的软机器人，能够执行复杂而精确的任务，需要发明新的驱动和控制方法。为了实现这一愿景，该项目将引入一种基于系统和控制的方法，用于开发由自主脉冲燃烧驱动的软模块组成的可控模块化机器人，能够高速施加大的周期性力。这一目标将通过引入用于驱动的脉冲爆炸控制的新方法、使用和进步用于控制脉冲燃烧驱动软驱动器的现代优化技术以及开发用于控制模块化软机器人的新实时方法来实现。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查进行评估，被认为值得支持。标准。