Pneumatic Compliant Binary Robots

二元驱动有可能克服当前机器人系统在人机交互差、复杂性以及高成本和重量方面的一些限制。使用只有两个状态的简单执行器，二进制系统有可能大大简化机器人的设计和控制，消除了对低水平的关节反馈的需要，降低成本，提高鲁棒性。然而，由于缺乏具有足够的力/功率密度和简单性以大量（100至1000）使用的合适的致动器系统，二元系统仍然没有被广泛使用。 该研究计划研究一种可以实现二进制系统的致动器系统。气动柔顺二元机器人（PCBR）由弹性平均空气肌肉安排在一个串联/并联架构。每个肌肉以处于加压状态或不处于加压状态的二元方式操作。改变肌肉的压力状态重新定义系统的平衡位置，从而提供运动。微型控制阀嵌入在机器人全聚合物结构中，形成紧凑、优雅的执行器系统。气动致动器的使用允许使用化学能量存储来产生压力，这具有极大地改善移动的机器人的范围超过电力系统的潜力。但今天，制造PCBR的技术和诀窍并不存在。 该研究将开发PCBR的四项使能技术：（1）设计和制造方法，（2）微型控制阀，（3）控制策略，以及（4）使用化学储能的压力产生策略，用于行走机器人等移动的应用。每项技术都将在简化的原型上进行实验演示，并就其潜力得出结论。 这项工作为期五年，将培养1名研究助理，2名博士生和2名硕士生。PCBR具有极高的简单性、低成本、固有的顺应性和化学能量存储，可以通过成为新的核心驱动技术来彻底改变机器人技术。

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.