Coherent Methodology for Modelling and Design of Soft Material Robots – The Soft Material Robotics Toolbox (SMaRT)

软材料机器人建模和设计的连贯方法 – 软材料机器人工具箱 (SMaRT)

• 批准号: 405032969
• 负责人: Professorin Dr.-Ing. Annika Raatz
• 金额: --
• 依托单位: Institut für Montagetechnik (match)
• 依托单位国家: 德国
• 项目类别: Priority Programmes
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/405032969?language=en
• 关键词: Coherent; Methodology; Modelling; Design; Soft

In the past years different research groups developed and investigated a large variety of different soft material robots (SMRs). Because of their low stiffness and high flexibility, SMRs are known to be advantageous when handling objects or interacting with their environment. However, development and use of SMRs for real life applications is a challenge that is not yet overcome. For modeling and control of SMRs assumptions are being made, that simplify the respective task and are only applicable for very specific applications. Still, to make use of the advantages of SMRs a more generalized approach to bring them into application needs to be developed. One gap that we want to tackle within this project is the integration of more complex contact phenomena in modeling, design, motion planning and state estimation of SMRs. This aspect of modeling has often been neglected until now. However, with regards to real life application it is essential to consider contact. Since human-robot interaction or handling unknown objects, is referred to as the greatest advantage of SMRs, interaction needs to be investigated. Consequently, contact with the environment, can no longer be oversimplified or neglected. During the first funding period a toolbox was developed that includes different methodologies and approaches that support the development, modeling and optimization of SMRs by the example of one soft pneumatic actuator segment. Based on this preliminary work, this subsequent research project aims to expand the toolbox with regards to real life applications. It will consider multi-segment actuators as well as further developments in modeling, design, motion planning and dynamic control.For a goal-oriented model based design process, we will research and develop optimization strategies that consider a complete SMR with specific tasks at hand rather than focusing on separated characteristics of a single soft actuator. For these optimization problems we research the possibility of including motion planning schemes also under consideration of contact and utilization of obstacles. Therefore, a more complex and thus more realistic contact description of soft material systems will be developed and implemented. With regards to real life applications motion planning in combination with the utilization of obstacles will be investigated. To dynamically control free motion and estimate the systems state, also in contact with the environment, model-based approaches are studied. The overall aim is to provide an open-source toolbox that facilitates a targeted and application-oriented development of soft material robots.

在过去的几年里，不同的研究小组开发和研究了各种不同的软材料机器人（SMR）。由于其低刚度和高柔性，SMR在处理物体或与其环境相互作用时是有利的。然而，SMR在真实的生活应用中的开发和使用是一个尚未克服的挑战。对于SMR的建模和控制，正在进行简化相应任务并且仅适用于非常特定的应用的假设。然而，为了利用最低限度标准规则的优点，需要制定一种更普遍的办法，将其付诸实施。 我们希望在这个项目中解决的一个差距是在SMR的建模，设计，运动规划和状态估计中集成更复杂的接触现象。这方面的建模往往被忽视，直到现在。然而，对于真实的生活应用，必须考虑接触。由于人机交互或处理未知物体被称为SMR的最大优势，因此需要研究交互。因此，与环境的接触，不能再被过分简化或忽视。在第一个供资期内，开发了一个工具箱，其中包括不同的方法和途径，以一个软气动执行器部分为例，支持SMR的开发、建模和优化。基于这一初步工作，随后的研究项目旨在扩大工具箱方面的真实的生活应用。它将考虑多段致动器以及建模，设计，运动规划和动态控制的进一步发展。对于面向目标的基于模型的设计过程，我们将研究和开发优化策略，考虑一个完整的SMR与特定的任务在手，而不是专注于单个软致动器的分离特性。对于这些优化问题，我们研究的可能性，包括运动规划方案也考虑接触和利用障碍。因此，一个更复杂的，因此更现实的软材料系统的接触描述将被开发和实施。关于真实的生活应用的运动规划与障碍物的利用相结合，将进行调查。为了动态控制自由运动和估计系统状态，也与环境接触，基于模型的方法进行了研究。总体目标是提供一个开源工具箱，促进软材料机器人的有针对性和面向应用的开发。