CAREER: Transformable and Reconfigurable Soft Robots

这个教师早期职业发展（CAREER）奖将介绍一种新的系统方法，将简单的软机器人模块结合到复杂的网络物理系统中，能够执行复杂的操作和运动任务。软机器人已经证明了模仿生物有机体的多样性和多功能性的潜力，从而创造出下一代适应性强、多功能和对人类友好的机器人。然而，需要做很多工作才能使这一发展超越研究实验室。在传统机器人的根本转变中，该项目将探索简单的即插即用模块的设计和建模，以实现复杂和可重新配置的紧急功能。除其他社会影响外，该项目的成果将有助于开发用于工厂自动化的协作机器人、可穿戴康复系统以及搜索救援和侦察机器人。该项目还将支持一个广泛的教育计划，包括本科机器人课程开发，本科研究实习和国际学生交流计划，本项目的目标是开发一种系统的方法，用于将典型的变刚度软机器人单元优化配置为复杂的机器人单元。网络物理系统为了实现这一目标，研究将从两个方面着手。第一个重点是制定一个新的非线性生物灵感的设计理念，利用“数字的力量”和“组装”的艺术。这种方法的核心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。第二个重点是找到如何优化配置这些模块，以解决具有挑战性的操作和运动任务。该策略是基于学习和进化计算技术和迭代组装的目标，最小的设计复杂性和减少控制的挑战，为一个给定的任务。沿着研究，第三个重点是将研究与高中、大学和大学后的教育相结合。努力包括将机器人技术纳入DePaul大学计算机学院工程项目的本科课程。此外，还将开展外展活动，通过研讨会和年度暑期学院提高芝加哥公立学校系统高中学生对机器人技术的认识。该项目得到了跨部门机器人基础研究项目的支持，由工程局（ENG）和计算机与信息科学与工程局（CISE）共同管理和资助该奖项反映了NSF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 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.