CAREER: Transformable and Reconfigurable Soft Robots

职业：可变形和可重构的软机器人

• 批准号: 2326536
• 负责人: Isuru Godage
• 金额: $ 53万
• 依托单位: Texas A&M Engineering Experiment Station
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-01-15 至 2026-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2326536&HistoricalAwards=false
• 关键词: CAREER; Transformable; Reconfigurable; Soft; Robots

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.

这一学院早期职业发展(CALEAR)奖将介绍一种新颖的系统方法，将简单的软机器人模块组合到复杂的网络物理系统中，能够执行复杂的操作和移动任务。软机器人技术已经证明了模仿生物有机体多样化多功能的潜力，从而创造出适应能力强、用途广泛和对人类友好的下一代机器人。然而，要使这一发展超越研究实验室，还需要做很多工作。在与传统机器人学的根本转变中，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。在其他社会影响中，该项目的成果将有助于工厂自动化、可穿戴式康复系统以及搜救和侦察机器人的合作机器人的开发。该项目还将支持一项广泛的教育计划，其中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，以及一项外展计划，其中包括为芝加哥当地高中生举办的研讨会和暑期学院。该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成复杂的网络物理系统。为了实现这一目标，研究将从两个方面进行。第一个重点是形成一种新颖的非线性生物灵感设计哲学，利用“数字的力量”和“组装”的艺术。这种方法的中心特征是利用一组简单的软机器人模块或设计，这些模块或设计具有不同的操作复杂性和机械特性。第二个重点是寻找如何优化配置这些模块，以解决具有挑战性的操作和移动任务。该策略基于学习和进化计算技术，以及围绕最小化设计复杂性和减少给定任务的控制挑战的目标进行迭代组装。除了研究，第三个重点是将研究与高中、大学和大学后的教育相结合。这些努力包括将机器人学纳入德保罗大学计算学院工程项目的本科生课程。此外，还将开展外展活动，通过研讨会和年度暑期班提高芝加哥公立学校系统高中生对机器人技术的认识。该项目由跨部门机器人基础研究计划支持，该计划由工程指导委员会(ENG)和计算机和信息科学与工程指导委员会(CEISE)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智力优势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

Wheelless Soft Robotic Snake Locomotion: Study on Sidewinding and Helical Rolling Gaits

无轮软机器人蛇运动：侧绕和螺旋滚动步态研究

• DOI: 10.1109/robosoft55895.2023.10121918
• 发表时间: 2023
• 期刊: 2023 IEEE International Conference on Soft Robotics (RoboSoft
• 作者: Arachchige, Dimuthu D.;Perera, Dulanjana M.;Mallikarachchi, Sanjaya;Kanj, Iyad;Chen, Yue;Godage, Isuru S.
• 通讯作者: Godage, Isuru S.

Soft Steps: Exploring Quadrupedal Locomotion With Modular Soft Robots

• DOI: 10.1109/access.2023.3289156
• 发表时间: 2023
• 期刊: IEEE Access
• 影响因子: 3.9
• 作者: Dimuthu D. K. Arachchige;Dulanjana M. Perera;S. Mallikarachchi;Umer Huzaifa;Iyad A. Kanj;I. Godage

Decentralized Data Collection via Swarm Contracts: Study on Crowd-Sourced Google Maps

• DOI: 10.1109/iccar57134.2023.10151727
• 发表时间: 2023-04
• 期刊: 2023 9th International Conference on Control, Automation and Robotics (ICCAR)
• 作者: S. Mallikarachchi;Bonnie Ho;Iyad A. Kanj;O. Seneviratne;I. Godage

Dynamic Control of Soft Robotic Arm: An Experimental Study

• DOI: 10.1109/lra.2023.3243802
• 发表时间: 2022-09
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Milad Azizkhani;Anthony L. Gunderman;I. Godage;Yue Chen

Study on Soft Robotic Pinniped Locomotion

软体机器人鳍足类运动研究

• DOI: 10.1109/aim46323.2023.10196209
• 发表时间: 2023
• 期刊: 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM
• 作者: Arachchige, Dimuthu D.;Varshney, Tanmay;Huzaifa, Umer;Kanj, Iyad;Nanayakkara, Thrishantha;Chen, Yue;Gilbert, Hunter B.;Godage, Isuru S.
• 通讯作者: Godage, Isuru S.