Dual modality for rigid & soft robot limbs

刚性的双模态

• 批准号: 1951738
• 金额: --
• 依托单位: University of Bristol
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2017
• 资助国家: 英国
• 起止时间: 2017 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-1951738
• 关键词: Dual; modality; rigid; soft; robot

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.

该项目将创建一个可变的合规机器人链接，可以从完全刚性转变为柔性，从而弥合传统机器人和软机器人之间的差距，利用各自的优势。背景与动机传统的机器人技术依赖于通过关节和致动器连接的刚体来与环境进行交互。这些刚性系统非常适合于将大量的力转移到环境中，但它们处理环境不确定性的能力存在内在限制，需要复杂和适应性强的控制方法来处理所述不确定性。软机器人技术是一个快速发展的领域，正在开发的机器人，其自然的顺应性使其对不确定性更加健壮，其形态可以从简单的输入创建复杂的行为和交互--例如，只需一个或两个DOF输入的抓取器能够精细地处理易碎物体[1]。可变顺应性是软机器人技术[2]中一个巨大的、不断发展的领域，其目标是创造能够改变其属性并在不同任务中表现出不同水平的柔软性的机器人。这个项目是对以前论文工作的合理扩展，将传统的机器人形态和控制融入到一个可变顺应性系统中。这个项目背后的最初概念是一系列通过铰链或一些部分柔软的材料连接的小而硬的连杆。这些连杆将连接在一起形成一个刚性整体，从而允许通过传统的刚性机器人方法进行控制。根据需要，这些链接还可以断开连接以创建一个软的、可弯曲的链接，类似于[3]中讨论的软六指。这不是唯一可能的解决方案，还有大量的可变合规性技术可以探索，以提供所需的功能[2]。还将探索可能的驱动方法，有可能使用肌腱或形状记忆合金，类似于[4]中的机械手，或者使用嵌入关节的伺服电机，类似于许多其他传统机器人。另一种研究途径是在刚性连杆中动态创建关节，允许根据当前任务进行多种不同的形态，从而形成一个非常通用的平台。此外，该项目将研究用更柔软的可变顺应性材料覆盖核心结构的可能性，以便核心提供承载能力，而外层执行小规模顺应性任务，以达到抓取和摩擦的目的。目的创建能够在完全刚性和略微柔软之间转换的可变顺应性机器人连杆。探索能够在刚性和软模式下控制机器人的驱动方法。探索动态创建/移动关节以允许多种形态。探索周围的软材料对于由较硬的内芯支撑的小规模顺应性的有用性。