CAREER: Transformable and Reconfigurable Soft Robots

职业：可变形和可重构的软机器人

基本信息

批准号：
2048142
负责人：
Isuru Godage
金额：
$ 53万
依托单位：
DePaul University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2021
资助国家：
美国
起止时间：
2021-09-01 至 2023-06-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2048142&HistoricalAwards=false
关键词：
CAREER Transformable Reconfigurable Soft Robots

项目摘要

This Faculty Early Career Development (CAREER) award will introduce a novel systematic approach to combining simple soft robotic modules into sophisticated cyber-physical systems, capable of performing complex manipulation and locomotion tasks. Soft robotics has demonstrated the potential for mimicking the diverse multifunctionality of biological organisms, thereby creating the next generation of adaptable, versatile, and human-friendly robots. However, much work needs to be done to enable this development beyond research laboratories. In a fundamental shift from traditional robotics, this project will explore the design and modeling of simple plug-n-play modules to achieve complex and reconfigurable emergent functionalities. Among other societal impacts, the outcomes of this project would aid in the development of co-robots for factory automation, wearable rehabilitation systems, and search & rescue and reconnaissance robots. The project will also support an extensive education plan that includes undergraduate robotic curriculum development, undergraduate research internships, and international student exchange program, as well as an outreach plan that includes workshops and summer academy for local high school students in Chicago.The objective of this project is to develop a systematic methodology for the optimal configuration of canonical variable stiffness soft robotic units into sophisticated cyber-physical systems. To achieve this objective, the research will proceed with two thrusts. The first thrust focuses on formulating a novel nonlinear bioinspired design philosophy that harnesses the “strength in numbers” and the art of “assembly”. The central feature of this approach is the leveraging of a set of simple soft robotic modules or designs with varying operational complexity and mechanical properties. The second thrust focuses on finding how to optimally configure these modules to solve challenging manipulation and locomotion tasks. The strategy is based on learning and evolutionary computing techniques and iterative assembly around the goal of minimal design complexity and reduced control challenges for a given task. Along with research, a third thrust focuses on integrating research with education at the high school, college, and post-college levels. Endeavors include incorporating robotics into the curriculum at the undergrad level within the Engineering program in the School of Computing at DePaul University. Additionally, outreach activities will also take place to raise awareness of robotics in the Chicago Public School System high school students via workshops and annual summer academy.This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).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.

该教师早期职业发展（职业）奖将引入一种新型的系统方法，将简单的软机器人模块组合到精致的网络物理系统中，能够执行复杂的操纵和机车任务。软机器人技术证明了模仿生物生物体的潜水员多功能性的潜力，从而创造了下一代的适应性，多功能和人类友好的机器人。但是，除了研究实验室之外，需要做很多工作以使这一发展能够实现。在从传统机器人技术的基本转变中，该项目将探索简单的插头N播放模块的设计和建模，以实现复杂且可重新配置的紧急功能。除其他社会影响外，该项目的结果将有助于开发工厂自动化，可穿戴康复系统以及搜救与侦察机器人的共同机组人员。 The project will also support an extensive education plan That includes undergraduate robotic current development, undergraduate research internationals, and international student exchange program, as well as an outreach plan that includes workshops and summer academy for local high school students in Chicago.The objective of this project is to develop a systematic methodology for the optimal configuration of canonical variable stiffness soft robotic units into sophisticated cyber-physical systems.为了实现这一目标，研究将进行两个推力。第一个推力重点是制定一种新颖的非线性生物启发的设计理念，该设计理念利用“数字的力量”和“集会”的艺术。这种方法的主要特征是利用一组简单的软机器人模块或具有不同操作复杂性和机械性能的设计。第二个推力重点是查找如何最佳配置这些模块以解决挑战操作和运动任务。该策略基于学习和进化计算技术和迭代组装，围绕最小设计复杂性，并减少给定任务的控制挑战。除研究外，第三个推力重点是将研究与高中，大学和大学后水平的教育整合在一起。努力包括将机器人技术纳入DePaul大学计算学院的工程课程中的本科生的课程中。此外，还将进行外展活动，以提高芝加哥公立学校系统中的机器人技术通过研讨会和年度夏季学院的高中学生的认识。该项目得到了机器人机器人计划的跨领域基础研究的支持，共同管理和资助了由工程局（ENG）和信息科学和工程（CISE）授予的。基金会的智力优点和更广泛的影响审查标准。