Dual modality for rigid & soft robot limbs

该项目将创建一个可变的顺应机器人链接，可以从完全刚性到软，从而弥合传统和软机器人之间的差距，利用各自的优势。传统的机器人依靠通过关节和执行器连接的刚体来与环境相互作用。这些刚性系统非常适合向其环境传递大量力，但在处理环境不确定性方面存在固有限制，需要复杂且适应性强的控制方法来处理所述不确定性。软机器人是一个快速发展的领域，开发的机器人的自然顺应性使它们对不确定性更加强大，其形态可以从简单的输入创建复杂的行为和交互-例如，只有一个或两个DoF输入[1]的抓手能够精细地处理易碎物体。可变顺应性是软机器人领域中一个巨大的、不断发展的领域，旨在创造能够改变其属性并为不同任务表现出不同程度柔软度的机器人。本课题是以往论文工作的逻辑延伸，将传统的机器人形态和控制整合到一个可变顺应系统中。这个项目背后的最初概念是一系列小的、刚性的链接，通过铰链或一些部分柔软的材料连接起来。这些链接将连接在一起形成一个刚性整体，允许通过传统的刚性机器人方法进行控制。这些链接也可以随意断开，以创建一个柔软的、可弯曲的链接，类似于b[3]中讨论的软第六指。这不是唯一可能的解决方案，还有大量的可变遵从性技术可以探索，以提供所需的功能b[2]。可能的驱动方法也将被探索，有可能使用肌腱或形状记忆合金，类似于[4]中的操纵器，或在关节中嵌入伺服马达，类似于许多其他传统机器人。另一个研究方向将是动态创建刚性链接中的关节，根据当前任务允许许多不同的形态，从而形成一个非常通用的平台。此外，该项目将研究用柔软的可变顺应性材料包裹核心结构的可能性，这样核心就可以提供承载能力，而外部则可以执行小规模的顺应性任务，以达到抓握和摩擦的目的。目标创建一个可变的柔性机器人链接，能够在完全刚性和有点软之间转换。探索能够控制机器人在刚性和软模态的驱动方法。探索动态创建/移动关节以允许多种形态。探索周围软材料的有用性，以支持更硬的内芯的小规模合规。

This project will create a variable compliance robot link that can transform from fully rigid to soft, thereby bridging the gap between traditional and soft robotics to leverage the advantages of each. Background & motivation Traditional robotics relies on rigid bodies connected via joints and actuators to interact with their environment. These rigid systems are ideal for large transferring forces to their environment but suffer from an inherent limitation in their ability to deal with environmental uncertainty, requiring complex and adaptable control methods to deal with said uncertainty. Soft robotics is a rapidly advancing field, developing robots whose natural compliance makes them more robust to uncertainty and whose morphology can create complex behaviours and interactions from simple input - e.g. grippers able to delicately handle fragile objects with only one or two DoF input [1]. Variable compliance is a large, growing field within soft robotics [2] which aims to create robots which can change their properties and exhibit various levels of softness for different tasks. This project is a logical extension of previous dissertation work, incorporating traditional robotic morphology and control into a variable compliance system. Intended methodology The initial concept behind this project is a series of small, rigid links connected either via hinges or some partly soft material. These links would connect together to form a rigid whole, allowing control via traditional rigid robot methods. At will, these links would also be able to disconnect to create a soft, bendable link similar to the soft-SixthFinger discussed in [3]. This is not the only possible solution, there is a large array of variable compliance technology which can be explored to provide the desired functionality [2]. Possible actuation methods will also be explored, there is potential for using tendons or shape-memory alloys, similar to the manipulators in [4] or for servo-motors embedded in the joints, similar to many other traditional robots. One other avenue of research will be to dynamically create joints in rigid links, allowing for many different morphologies depending on the current task, leading to a very versatile platform. Additionally, the project will investigate the possibility of sheathing the core structure in a softer variable compliance material, such that the core provides load bearing capacity whilst the outer performs small-scale compliance tasks for the purpose of gripping and friction. AimsCreate a variable compliant robot link capable of transitioning between fully rigid and somewhat soft.Explore actuation methods capable of controlling the robot in both rigid and soft modalities.Explore dynamically creating/moving joints to allow multiple morphologies.Explore the usefulness of a surrounding soft material for small-scale compliance supported by the stiffer inner core.