EFRI C3 SoRo: Control of Local Curvature and Buckling for Multifunctional Textile-Based Robots

EFRI C3 SoRo：多功能纺织机器人的局部曲率和屈曲控制

基本信息

批准号：
1935324
负责人：
Nicholas Gravish
金额：
$ 200万
依托单位：
University of California-San Diego
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2019
资助国家：
美国
起止时间：
2019-10-01 至 2024-09-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1935324&HistoricalAwards=false
关键词：
EFRI C3 SoRo Control Local

项目摘要

This project envisions a new class of soft robotics technology that will enable new multifunctional soft robots with reconfigurable actuation and shapes. The key to the proposed technology is the ability to change the mechanical properties of a thin-walled structure by changing its local curvature. For example, curving a flat sheet of paper along one direction greatly increases its stiffness in the other two directions. Exploiting the coupling between curvature and mechanical behavior in planar materials will enable the design, modeling, and control of reconfigurable soft robots. This can be used to realize robot arms with joints that can be created and configured at will to match desired task dynamics and constraint geometries. Soft robotics technology has the potential to transform the way our society utilizes and interacts with robots, because soft robots are inherently safe for interaction with humans. This project promotes the progress of science by advancing understanding of how to utilize materials and geometry to create active, assistive, robotic devices. Furthermore, the topics of this proposal are uniquely suited to outreach activities for K-12 students. Parallel outreach activities will be run across the collaborating sites to maximally inform the public and the nation?s youth about this new type of soft robot.This project will develop modeling, control, and design methods for a new class of robots formed from soft planar materials and called Soft Curved Reconfigurable Anisotropic Mechanisms (SCRAMs). These robots will be manufactured through planar fabrication methods (sewing, lamination, and 3D printing) and local, embedded actuators and sensors to realize soft, curved, reconfigurable, anisotropic mechanisms for reconfigurable joints with controllable curvature. The collaborative research plan features the following tasks: 1) identify geometric and manufacturing representations that can unify element design & will enable modeling, system simulation, and control, 2) establish and study canonical soft continuum elements, sensors, and actuators using experimental techniques and finite element modeling to understand SCRAM mechanics and dynamics towards a library of modular elements for building soft continuum systems. The project will 3) formulate new modeling, simulation, and geometric control methods for optimal control of SCRAM robots in multi-modal environments, 4) which will be validated on two SCRAM platforms to study issues in manipulation and locomotion as well as to demonstrate the potential of SCRAM-based 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.

该项目设想了一类新的软机器人技术，它将通过可重新配置的驱动和形状来实现新的多功能软机器人。提出的技术的关键是能够通过更改其局部曲率来改变薄壁结构的机械性能。例如，沿着一个方向弯曲一张纸的平坦纸会大大增加其在其他两个方向上的刚度。在平面材料中利用曲率和机械行为之间的耦合将使可重新配置软机器人的设计，建模和控制。这可以用来实现具有可以随意创建和配置的关节的机器人臂，以匹配所需的任务动态和约束几何。软机器人技术有可能改变我们社会使用和与机器人互动的方式，因为软机器人天生可以安全地与人类互动。该项目通过促进对如何利用材料和几何形状来创建主动，辅助，机器人设备的理解来促进科学的进步。此外，该提案的主题非常适合为K-12学生推广活动。并行的外展活动将在协作网站上进行，以最大程度地告知公众和国家的青年，以了解这种新型软机器人。该项目将开发由软平面材料形成的新机器人的建模，控制和设计方法，称为软弯曲的可重新配置可重新配置的可覆盖型动态机制（SCRAMS）。这些机器人将通过平面制造方法（缝制，层压和3D打印）以及局部的嵌入式执行器和传感器来制造，以实现柔软，弯曲，可重新配置的各向异性机制，可用于可控制的固定率。协作研究计划具有以下任务：1）确定可以统一元素设计并将实现建模，系统模拟和控制的几何和制造表示，2）建立和研究规范的软连续性元素，传感器和执行器，使用实验性技术和有限元元素建模来了解Scram机制和动力学，以构建soft of Soft element of Soft element of Soft element of Modular element。 The project will 3) formulate new modeling, simulation, and geometric control methods for optimal control of SCRAM robots in multi-modal environments, 4) which will be validated on two SCRAM platforms to study issues in manipulation and locomotion as well as to demonstrate the potential of SCRAM-based 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影响审查标准。