Pneumatic Compliant Binary Robots

点击翻译按钮获取中文摘要

Binary actuation has the potential to overcome some of the limitations of current robotic systems in terms of poor human interactions, complexity, and high cost and weight. Using simple actuators with only two states, binary systems have the potential to greatly simplify robot design and control by eliminating the need for low level joint feedback, reducing costs and increasing robustness. However, binary systems are still not widely used because of a lack of a suitable actuator system that has sufficient force/power density and simplicity to be used in large numbers (100 to 1000's). The research program studies an actuator system that could enable binary systems. Pneumatic Compliant Binary Robots (PCBR) consists in elastically averaged air-muscles arranged in a serie/parallel architecture. Each muscle is operated in a binary fashion being in a pressurized state or not. Changing the pressure state of the muscles redefines the system's equilibrium position, and thus provides motion. Miniature control valves are embedded in the robot all-polymer structure making for a compact, elegant actuator system. The use of pneumatic actuators allows using chemical energy storage to produce pressure which has the potential to greatly improve the range of mobile robots over electric systems. But today, the technologies and know-how to create PCBR do not exist. The research will develop four enabling technologies of PCBR: (1) design and manufacturing methods, (2) miniature control valves, (3) control strategies, and (4) pressure generation strategies using chemical energy storage for mobile applications such as walking robots. Each technology will be demonstrated experimentally on simplified prototypes and conclusions with respect to their potential will be drawn. The work spreads over a five year period and will trained 1 research assistant, 2 PhD students, and 2 master's students. With great simplicity, low costs, inherent compliance, and chemical energy storage, PCBR could revolutionize robotics by becoming a new core actuation technology.