EFRI C3 SoRo: Overcoming Challenges in Control of Continuum Soft Robots through Data-driven Dynamic Decomposition and Light-modulated Materials

EFRI C3 SoRo：通过数据驱动的动态分解和光调制材料克服连续软体机器人控制的挑战

• 批准号: 1935327
• 负责人: Elliot Hawkes
• 金额: $ 200万
• 依托单位: University of California-Santa Barbara
• 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=1935327&HistoricalAwards=false
• 关键词: EFRI; C3; SoRo; Overcoming; Challenges

This project will advance the control of continuum soft robots in complementary areas of representation and implementation. First, it will explore the use of data-driven modeling techniques that are especially well-suited to high-dimensional nonlinear systems. Continuum systems are high dimensional because they may be formed into many distinct, independent shapes, while soft structures frequently exhibit nonlinear dynamics due to their characteristically large deformations. Second, it will explore sensing and actuation using materials that change their mechanical properties in response to light. Light may be steered to various parts of the robot through waveguides made from compliant materials in a variety of geometries, chosen to naturally match the compliance and geometry of the robot. Multiple commands or measurements may be combined on a single waveguide by using different colors of light for different signals. This helps address the large number of sensors and actuators needed to fully monitor and control these high-dimensional systems. The results of this work will be a new class of optically controllable, continuum, compliant, and configurable robots, or C4 optorobots for short. The capabilities of C4 optorobots will be valuable in numerous applications, including inspection of hard-to-reach areas and minimally invasive surgery. This project will include validation experiments, such as a representative engine inspection task, simulated tissue ablation in the heart, and simulated blood clot removal in the brain. Outreach activities of this project will focus on training of graduate and undergraduate students from underrepresented groups, including community college students, in emerging areas of soft robotics.This project will combine two key innovations - Koopman Operator Theory (KOT) and light-modulated materials design. KOT uses a data-driven approach to identify the eigenmodes of a complex, nonlinear system, thus enabling optimization of control inputs for greatest impact. KOT can produce a linear dynamical model that matches the system behavior, suitable for use in a model-based control. Light combined with photoresponsive materials can provide such control inputs because wavelength, intensity, pulse duration, and spatial distribution can be precisely and nearly instantaneously controlled. Accordingly, this project will accomplish the following goals: 1) Use KOT to extract and formulate linear, dynamic models of C3 robotic sub-systems and implement model-based control schemes using finite control inputs; 2) Develop transduction mechanisms, through engineered light delivery, novel chemical synthesis, and integration into light-responsive materials, to actuate C3 robotic sub-systems; 3) Integrate light-activated robotic sub-systems and model-based linear control schemes to realize controllable, continuum, compliant, and configurable robots -- C4 optorobots.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.

该项目将推进连续软机器人在互补领域的代表性和实施的控制。首先，它将探索使用数据驱动的建模技术，特别适合于高维非线性系统。连续体系统是高维的，因为它们可以形成许多不同的，独立的形状，而软结构经常表现出非线性动力学，由于其特征性的大变形。其次，它将探索使用材料的传感和驱动，这些材料会对光做出反应，从而改变其机械特性。光可以通过由各种几何形状的顺应性材料制成的波导被引导到机器人的各个部分，所述各种几何形状被选择为自然地匹配机器人的顺应性和几何形状。通过针对不同信号使用不同颜色的光，可以在单个波导上组合多个命令或测量。这有助于解决完全监控和控制这些高维系统所需的大量传感器和执行器的问题。这项工作的结果将是一类新的光学可控，连续，兼容和可配置的机器人，或简称C4 optorobots。C4光学机器人的能力将在许多应用中发挥重要作用，包括检查难以到达的区域和微创手术。该项目将包括验证实验，例如代表性的发动机检查任务，模拟心脏组织消融和模拟大脑中的血块清除。该项目的推广活动将侧重于在软机器人的新兴领域培训来自代表性不足群体的研究生和本科生，包括社区大学生。该项目将结合联合收割机两个关键创新- Koopman算子理论（KOT）和光调制材料设计。KOT使用数据驱动的方法来识别复杂的非线性系统的本征模式，从而优化控制输入，以实现最大的影响。KOT可以产生与系统行为相匹配的线性动态模型，适用于基于模型的控制。与光响应材料组合的光可以提供这样的控制输入，因为波长、强度、脉冲持续时间和空间分布可以被精确地且几乎瞬时地控制。因此，本项目将实现以下目标：1）使用KOT提取和制定C3机器人子系统的线性动态模型，并使用有限的控制输入实现基于模型的控制方案; 2）开发转换机制，通过工程光传输，新的化学合成，并集成到光响应材料中，以驱动C3机器人子系统; 3）集成光激活机器人子系统和基于模型的线性控制方案，以实现可控、连续、兼容和可配置的机器人-- C4 optorobots。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标准进行评估，被认为值得支持。

项目成果

Prediction of the behavior of a pneumatic soft robot based on Koopman operator theory

基于库普曼算子理论的气动软机器人行为预测

• DOI: 10.23919/mipro48935.2020.9245155
• 发表时间: 2020
• 期刊: MIPRO
• 作者: Kamenar, E.;Crnjaric-Zic, N.;Haggerty, D.;Zelenika, S.;Hawkes, E. W.;Mezic, I.
• 通讯作者: Mezic, I.

Robust Approximation of the Stochastic Koopman Operator

• DOI: 10.1137/21m1414425
• 发表时间: 2020-10
• 期刊: SIAM J. Appl. Dyn. Syst.
• 作者: Mathias Wanner;Igor Mezi'c

Thermodynamically-informed Air-based Soft Heat Engine Design

• 发表时间: 2021-03
• 期刊: ArXiv
• 作者: Charles Xiao;Luke F. Gockowski;Bolin Liao;M. Valentine;E. Hawkes

Design of Surface-Aligned Main-Chain Liquid-Crystal Networks Prepared under Ambient, Light-Free Conditions Using the Diels–Alder Cycloaddition

使用 Diels-Alder 环加成法在环境、无光条件下制备表面对准主链液晶网络的设计

• DOI: 10.1021/acsmacrolett.2c00616
• 发表时间: 2023
• 期刊: ACS Macro Letters
• 影响因子: 7.015
• 作者: Park, Minwook;Stricker, Friedrich;Campos, Jesus Guillen;Clark, Kyle D.;Lee, Jaejun;Kwon, Younghoon;Valentine, Megan T.;Read de Alaniz, Javier
• 通讯作者: Read de Alaniz, Javier

Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator

• 发表时间: 2020-11
• 期刊: ArXiv
• 作者: David A. Haggerty;M. Banks;Patrick C. Curtis;Igor Mezi'c;E. Hawkes