EFRI C3 SoRo: Control of Local Curvature and Buckling for Multifunctional Textile-Based Robots

该项目设想了一类新的软机器人技术，将使新的多功能软机器人与可重构的驱动和形状。所提出的技术的关键是能够通过改变薄壁结构的局部曲率来改变其机械性能。例如，沿沿着一个方向弯曲一张平的纸会大大增加其在其他两个方向上的刚度。利用平面材料中曲率和力学行为之间的耦合将使可重构软机器人的设计、建模和控制成为可能。这可以用于实现具有关节的机器人手臂，这些关节可以随意创建和配置以匹配所需的任务动态和约束几何形状。软机器人技术有可能改变我们的社会利用机器人和与机器人互动的方式，因为软机器人与人类互动本质上是安全的。该项目通过促进对如何利用材料和几何形状来创建主动、辅助、机器人设备的理解来促进科学的进步。此外，本提案的主题特别适合K-12学生的外联活动。将在合作地点开展平行的外联活动，以最大限度地向公众和国家提供信息？这个项目将为一种由软平面材料制成的新型机器人开发建模、控制和设计方法，这种机器人被称为软弯曲可重构各向异性机构（SCRAM）。这些机器人将通过平面制造方法（缝纫，层压和3D打印）和本地嵌入式致动器和传感器制造，以实现柔性，弯曲，可重构，各向异性的可重构关节机构，具有可控曲率。该合作研究计划的特点是以下任务：1）确定几何和制造表示，可以统一元件设计，使建模，系统仿真和控制，2）建立和研究规范的软连续体元件，传感器和执行器使用实验技术和有限元建模，以了解SCRAM力学和动力学，为建立软连续体系统的模块化元件库。&该项目将3）制定新的建模，仿真和几何控制方法，用于多模态环境中SCRAM机器人的最佳控制，4）将在两个SCRAM平台上进行验证，以研究操纵和运动问题，并展示基于SCRAM的软该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查进行评估，被认为值得支持的搜索.

This project envisions a new class of soft robotics technology that will enable new multifunctional soft robots with reconfigurable actuation and shapes. The key to the proposed technology is the ability to change the mechanical properties of a thin-walled structure by changing its local curvature. For example, curving a flat sheet of paper along one direction greatly increases its stiffness in the other two directions. Exploiting the coupling between curvature and mechanical behavior in planar materials will enable the design, modeling, and control of reconfigurable soft robots. This can be used to realize robot arms with joints that can be created and configured at will to match desired task dynamics and constraint geometries. Soft robotics technology has the potential to transform the way our society utilizes and interacts with robots, because soft robots are inherently safe for interaction with humans. This project promotes the progress of science by advancing understanding of how to utilize materials and geometry to create active, assistive, robotic devices. Furthermore, the topics of this proposal are uniquely suited to outreach activities for K-12 students. Parallel outreach activities will be run across the collaborating sites to maximally inform the public and the nation?s youth about this new type of soft robot.This project will develop modeling, control, and design methods for a new class of robots formed from soft planar materials and called Soft Curved Reconfigurable Anisotropic Mechanisms (SCRAMs). These robots will be manufactured through planar fabrication methods (sewing, lamination, and 3D printing) and local, embedded actuators and sensors to realize soft, curved, reconfigurable, anisotropic mechanisms for reconfigurable joints with controllable curvature. The collaborative research plan features the following tasks: 1) identify geometric and manufacturing representations that can unify element design & will enable modeling, system simulation, and control, 2) establish and study canonical soft continuum elements, sensors, and actuators using experimental techniques and finite element modeling to understand SCRAM mechanics and dynamics towards a library of modular elements for building soft continuum systems. The project will 3) formulate new modeling, simulation, and geometric control methods for optimal control of SCRAM robots in multi-modal environments, 4) which will be validated on two SCRAM platforms to study issues in manipulation and locomotion as well as to demonstrate the potential of SCRAM-based soft-robots.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.