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

这个早期概念探索性研究（EAGER）项目探索利用燃烧为软机器人提供动力。与同等能量的电池相比，化学燃料使用的质量和体积都要小得多，而且燃烧可以产生很大的力。然而，与机电解决方案相比，基于燃烧的系统的成熟度要低得多。这个高风险的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)执行器设计框架，以及3)获得所需运动的控制综合理论。该项目将开发出用于搜救、环境监测等领域的低成本软机器人，从而提高国民福祉。创造快速、强大和自主的软体机器人，能够执行复杂和精确的任务，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，用于开发可控模块化机器人，该机器人由自主脉冲燃烧动力软模块组成，能够在高速下施加大的周期性力。这一目标将通过引入脉冲爆炸驱动控制的新方法，脉冲燃烧驱动软执行器控制的现代和最佳技术的使用和进步，以及模块化软机器人控制的新实时方法的开发来实现。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。

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.