1
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Prakash A, Nair AR, Arunav H, P R R, Akhil VM, Tawk C, Shankar KV. Bioinspiration and biomimetics in marine robotics: a review on current applications and future trends. BIOINSPIRATION & BIOMIMETICS 2024; 19:031002. [PMID: 38467071 DOI: 10.1088/1748-3190/ad3265] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/01/2023] [Accepted: 03/11/2024] [Indexed: 03/13/2024]
Abstract
Over the past few years, the research community has witnessed a burgeoning interest in biomimetics, particularly within the marine sector. The study of biomimicry as a revolutionary remedy for numerous commercial and research-based marine businesses has been spurred by the difficulties presented by the harsh maritime environment. Biomimetic marine robots are at the forefront of this innovation by imitating various structures and behaviors of marine life and utilizing the evolutionary advantages and adaptations these marine organisms have developed over millennia to thrive in harsh conditions. This thorough examination explores current developments and research efforts in biomimetic marine robots based on their propulsion mechanisms. By examining these biomimetic designs, the review aims to solve the mysteries buried in the natural world and provide vital information for marine improvements. In addition to illuminating the complexities of these bio-inspired mechanisms, the investigation helps to steer future research directions and possible obstacles, spurring additional advancements in the field of biomimetic marine robotics. Considering the revolutionary potential of using nature's inventiveness to navigate and thrive in one of the most challenging environments on Earth, the current review's conclusion urges a multidisciplinary approach by integrating robotics and biology. The field of biomimetic marine robotics not only represents a paradigm shift in our relationship with the oceans, but it also opens previously unimaginable possibilities for sustainable exploration and use of marine resources by understanding and imitating nature's solutions.
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Affiliation(s)
- Amal Prakash
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
| | - Arjun R Nair
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
| | - H Arunav
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
| | - Rthuraj P R
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
| | - V M Akhil
- School of Interdisciplinary Research, Indian Institute of Technology, Delhi, India
| | - Charbel Tawk
- Department of Industrial and Mechanical Engineering, School of Engineering, Lebanese American University, Byblos, Lebanon
| | - Karthik V Shankar
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Amritapuri, India
- Centre for Flexible Electronics and Advanced Materials, Amrita Vishwa Vidyapeetham, Amritapuri, India
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2
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Li G, Qiu W, Wang M, Zhu Y, Liu F. Development of an earthworm-based soft robot for colon sampling. Front Robot AI 2024; 11:1309220. [PMID: 38384358 PMCID: PMC10879271 DOI: 10.3389/frobt.2024.1309220] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/08/2023] [Accepted: 01/25/2024] [Indexed: 02/23/2024] Open
Abstract
Colorectal cancer as a major disease that poses a serious threat to human health continues to rise in incidence. And the timely colon examinations are crucial for the prevention, diagnosis, and treatment of this disease. Clinically, gastroscopy is used as a universal means of examination, prevention and diagnosis of this disease, but this detection method is not patient-friendly and can easily cause damage to the intestinal mucosa. Soft robots as an emerging technology offer a promising approach to examining, diagnosing, and treating intestinal diseases due to their high flexibility and patient-friendly interaction. However, existing research on intestinal soft robots mainly focuses on controlled movement and observation within the colon or colon-like environments, lacking additional functionalities such as sample collection from the intestine. Here, we designed and developed an earthworm-like soft robot specifically for colon sampling. It consists of a robot body with an earthworm-like structure for movement in the narrow and soft pipe-environments, and a sampling part with a flexible arm structure resembling an elephant trunk for bidirectional bending sampling. This soft robot is capable of flexible movement and sample collection within an colon-like environment. By successfully demonstrating the feasibility of utilizing soft robots for colon sampling, this work introduces a novel method for non-destructive inspection and sampling in the colon. It represents a significant advancement in the field of medical robotics, offering a potential solution for more efficient and accurate examination and diagnosis of intestinal diseases, specifically for colorectal cancer.
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Affiliation(s)
- Gongxin Li
- Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi, Jiangsu, China
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3
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Yu Q, Gravish N. Multimodal Locomotion in a Soft Robot Through Hierarchical Actuation. Soft Robot 2024; 11:21-31. [PMID: 37471221 DOI: 10.1089/soro.2022.0198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/22/2023] Open
Abstract
Soft and continuum robots present the opportunity for extremely large ranges of motion, which can enable dexterous, adaptive, and multimodal locomotion behaviors. However, as the number of degrees of freedom (DOF) of a robot increases, the number of actuators should also increase to achieve the full actuation potential. This presents a dilemma in mobile soft robot design: physical space and power requirements restrict the number and type of actuators available and may ultimately limit the movement capabilities of soft robots with high-DOF appendages. Restrictions on actuation of continuum appendages ultimately may limit the various movement capabilities of soft robots. In this work, we demonstrate multimodal behaviors in an underwater robot called "Hexapus." A hierarchical actuation design for multiappendage soft robots is presented in which a single high-power motor actuates all appendages for locomotion, while smaller low-power motors augment the shape of each appendage. The flexible appendages are designed to be capable of hyperextension for thrust, and flexion for grasping with a peak pullout force of 32 N. For propulsion, we incorporate an elastic membrane connected across the base of each tentacle, which is stretched slowly by the high-power motor and released rapidly through a slip-gear mechanism. Through this actuation arrangement, Hexapus is capable of underwater locomotion with low cost of transport (COT = 1.44 at 16.5 mm/s) while swimming and a variety of multimodal locomotion behaviors, including swimming, turning, grasping, and crawling, which we demonstrate in experiment.
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Affiliation(s)
- Qifan Yu
- Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, California, USA
| | - Nick Gravish
- Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, California, USA
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4
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Liu Z, Fang H, Xu J, Wang KW. Cellular Automata Inspired Multistable Origami Metamaterials for Mechanical Learning. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2305146. [PMID: 37870201 DOI: 10.1002/advs.202305146] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Revised: 08/31/2023] [Indexed: 10/24/2023]
Abstract
Recent advances in multistable metamaterials reveal a link between structural configuration transition and Boolean logic, heralding a new generation of computationally capable intelligent materials. To enable higher-level computation, existing computational frameworks require the integration of large-scale networked logic gates, which places demanding requirements on the fabrication of materials counterparts and the propagation of signals. Inspired by cellular automata, a novel computational framework based on multistable origami metamaterials by incorporating reservoir computing is proposed, which can accomplish high-level computation tasks without the need to construct a logic gate network. This approach thus eliminates the demanding requirements for the fabrication of materials and signal propagation when constructing large-scale networks for high-level computation in conventional mechanical logic. Using the multistable stacked Miura-origami metamaterial as a validation platform, digit recognition is experimentally implemented by a single actuator. Moreover, complex tasks, such as handwriting recognition and 5-bit memory tasks, are also shown to be feasible with the new computation framework. The research represents a significant advancement in developing a new generation of intelligent materials with advanced computational capabilities. With continued research and development, these materials can have a transformative impact on a wide range of fields, from computational science to material mechano-intelligence technology and beyond.
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Affiliation(s)
- Zuolin Liu
- Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI & Robotics, Fudan University, Shanghai, 200433, China
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA
| | - Hongbin Fang
- Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI & Robotics, Fudan University, Shanghai, 200433, China
| | - Jian Xu
- Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI & Robotics, Fudan University, Shanghai, 200433, China
| | - Kon-Well Wang
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA
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5
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Sapai S, Loo JY, Ding ZY, Tan CP, Baskaran VM, Nurzaman SG. A Deep Learning Framework for Soft Robots with Synthetic Data. Soft Robot 2023; 10:1224-1240. [PMID: 37590485 DOI: 10.1089/soro.2022.0188] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/19/2023] Open
Abstract
Data-driven methods with deep neural networks demonstrate promising results for accurate modeling in soft robots. However, deep neural network models rely on voluminous data in discovering the complex and nonlinear representations inherent in soft robots. Consequently, while it is not always possible, a substantial amount of effort is required for data acquisition, labeling, and annotation. This article introduces a data-driven learning framework based on synthetic data to circumvent the exhaustive data collection process. More specifically, we propose a novel time series generative adversarial network with a self-attention mechanism, Transformer TimeGAN (TTGAN) to precisely learn the complex dynamics of a soft robot. On top of that, the TTGAN is incorporated with a conditioning network that enables it to produce synthetic data for specific soft robot behaviors. The proposed framework is verified on a widely used pneumatic-based soft gripper as an exemplary experimental setup. Experimental results demonstrate that the TTGAN generates synthetic time series data with realistic soft robot dynamics. Critically, a combination of the synthetic and only partially available original data produces a data-driven model with estimation accuracy comparable to models obtained from using complete original data.
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Affiliation(s)
- Shageenderan Sapai
- School of Information Technology, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Junn Yong Loo
- School of Information Technology, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Ze Yang Ding
- School of Engineering and Advanced Engineering Platform, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Chee Pin Tan
- School of Engineering and Advanced Engineering Platform, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Vishnu Monn Baskaran
- School of Information Technology, Monash University Malaysia, Bandar Sunway, Malaysia
| | - Surya Girinatha Nurzaman
- School of Engineering and Advanced Engineering Platform, Monash University Malaysia, Bandar Sunway, Malaysia
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6
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Kotak P, Maxson S, Weerakkody T, Cichella V, Lamuta C. Octopus-Inspired Muscular Hydrostats Powered By Twisted and Coiled Artificial Muscles. Soft Robot 2023. [PMID: 37971832 DOI: 10.1089/soro.2023.0069] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2023] Open
Abstract
Traditional robots are characterized by rigid structures, which restrict their range of motion and their application in environments where complex movements and safe human-robot interactions are required. Soft robots inspired by nature and characterized by soft compliant materials have emerged as an exciting alternative in unstructured environments. However, the use of multicomponent actuators with low power/weight ratios has prevented the development of truly bioinspired soft robots. Octopodes' limbs contain layers of muscular hydrostats, which provide them with a nearly limitless range of motions. In this work, we propose octopus-inspired muscular hydrostats powered by an emerging class of artificial muscles called twisted and coiled artificial muscles (TCAMs). TCAMs are fabricated by twisting and coiling inexpensive fibers, can sustain stresses up to 60 MPa, and provide tensile strokes of nearly 50% with <0.2 V/cm of input voltage. These artificial muscles overcome the limitations of other actuators in terms of cost, power, and portability. We developed four different configurations of muscular hydrostats with TCAMs arranged in different orientations to reproduce the main motions of octopodes' arms: shortening, torsion, bending, and extension. We also assembled an untethered waterproof device with on-board control, sensing, actuation, and a power source for driving our hydrostats underwater. The proposed TCAM-powered muscular hydrostats will pave the way for the development of compliant bioinspired robots that can be used to explore the underwater world and perform complex tasks in harsh and dangerous environments.
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Affiliation(s)
- Parth Kotak
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
| | - Sean Maxson
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
| | - Thilina Weerakkody
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
| | - Venanzio Cichella
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
| | - Caterina Lamuta
- Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA
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7
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Yoo SH, Kim M, Park HJ, Lee GI, Lee SH, Kwak MK. Vacuum-powered soft actuator with oblique air chambers for easy detachment of artificial dry adhesive by coupled contraction and twisting. SCIENCE AND TECHNOLOGY OF ADVANCED MATERIALS 2023; 24:2274818. [PMID: 38024796 PMCID: PMC10653703 DOI: 10.1080/14686996.2023.2274818] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/22/2023] [Accepted: 10/19/2023] [Indexed: 12/01/2023]
Abstract
A gecko foot-inspired, mushroom-shaped artificial dry adhesive exploiting intermolecular forces between microstructure and surface has drawn research attention for its strong adhesive force. However, the high pull-off strength corresponding to the adhesive force matters when detaching fragile substrates. In this study, we report a vacuum-powered soft actuator having oblique air chambers and a dry adhesive. The soft actuator performs coupled contraction and twisting by applying negative pneumatic pressure inward and exhibits not only high pull-off strength but also easy detachment. This effective detachment can be achieved thanks to the twisting motion of the soft actuator. The detachment performances of the actuator models are assessed using a 6-degrees-of-freedom robot arm. Results show that the soft actuators exhibit remarkable pull-off strength decrement from ~20 N cm-2 to ~2 N cm-2 due to the twisting. Finally, to verify a feasible application of this study, we utilize the inherent compliance of the actuators and introduce a glass transfer system for which a glass substrate on a slope is gripped by the flexibility of the soft actuators and delivered to the destination without any fracture.
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Affiliation(s)
- Seung Hoon Yoo
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
| | - Minsu Kim
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
| | - Han Jun Park
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
| | - Ga In Lee
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
| | - Sung Ho Lee
- Department of Mechanical Engineering, Dong-A University, Busan, Republic of Korea
| | - Moon Kyu Kwak
- Department of Mechanical Engineering, Kyungpook National University, Daegu, Republic of Korea
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8
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Lo Preti M, Beccai L. Sensorized objects used to quantitatively study distal grasping in the African elephant. iScience 2023; 26:107657. [PMID: 37744412 PMCID: PMC10517398 DOI: 10.1016/j.isci.2023.107657] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/10/2023] [Revised: 06/23/2023] [Accepted: 08/15/2023] [Indexed: 09/26/2023] Open
Abstract
Nature evolved many ways to grasp objects without using hands: elephants, octopuses, and monkeys use highly dexterous appendices. From a roboticist's perspective, the elephant trunk is a fascinating manipulator, which strategies can empower robots' interaction capabilities. However, quantifying prehensile forces in such large animals in a safe, ethical, and reproducible manner is challenging. We developed two sensorized objects to investigate the grasping of an adult African elephant with deliberately occluded vision. A cylinder and a handle provided a distributed force (80 and 6 taxels) and inertial measurements in real-time, resisting dirt and shocks. The animal curled the distal portion of the trunk to grasp the tools. Using force and contact area data of the cylinder revealed the animal's ability to finely modulate pressure. The handle data provided insights into the energy-efficient behavior of the animal, with no significant grasping force changes despite variations imposed on both weight (5-15 kg) and initial position of the object.
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Affiliation(s)
- Matteo Lo Preti
- Soft BioRobotics Perception Lab, Istituto Italiano di Tecnologia, 16163 Genova, Italy
- The BioRobotics Institute, Scuola Superiore Sant’Anna, 56025 Pontedera, Italy
| | - Lucia Beccai
- Soft BioRobotics Perception Lab, Istituto Italiano di Tecnologia, 16163 Genova, Italy
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9
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Zhang Y, Kong D, Shi Y, Cai M, Yu Q, Li S, Wang K, Liu C. Recent progress on underwater soft robots: adhesion, grabbing, actuating, and sensing. Front Bioeng Biotechnol 2023; 11:1196922. [PMID: 37614630 PMCID: PMC10442648 DOI: 10.3389/fbioe.2023.1196922] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Accepted: 07/20/2023] [Indexed: 08/25/2023] Open
Abstract
The research on biomimetic robots, especially soft robots with flexible materials as the main structure, is constantly being explored. It integrates multi-disciplinary content, such as bionics, material science, mechatronics engineering, and control theory, and belongs to the cross-disciplinary field related to mechanical bionics and biological manufacturing. With the continuous development of various related disciplines, this area has become a hot research field. Particularly with the development of practical technologies such as 3D printing technology, shape memory alloy, piezoelectric materials, and hydrogels at the present stage, the functions and forms of soft robots are constantly being further developed, and a variety of new soft robots keep emerging. Soft robots, combined with their own materials or structural characteristics of large deformation, have almost unlimited degrees of freedom (DoF) compared with rigid robots, which also provide a more reliable structural basis for soft robots to adapt to the natural environment. Therefore, soft robots will have extremely strong adaptability in some special conditions. As a type of robot made of flexible materials, the changeable pose structure of soft robots is especially suitable for the large application environment of the ocean. Soft robots working underwater can better mimic the movement characteristics of marine life in the hope of achieving more complex underwater tasks. The main focus of this paper is to classify different types of underwater organisms according to their common motion modes, focusing on the achievements of some bionic mechanisms in different functional fields that have imitated various motion modes underwater in recent years (e.g., the underwater sucking glove, the underwater Gripper, and the self-powered soft robot). The development of various task types (e.g., grasping, adhesive, driving or swimming, and sensing functions) and mechanism realization forms of the underwater soft robot are described based on this article.
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Affiliation(s)
- Yeming Zhang
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
| | - Demin Kong
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
| | - Yan Shi
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
| | - Maolin Cai
- School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
| | - Qihui Yu
- School of Mechanical Engineering, Inner Mongolia University of Science and Technology, Baotou, China
| | - Shuping Li
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
| | - Kai Wang
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
| | - Chuangchuang Liu
- School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo, China
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10
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López-González A, Tejada JC, López-Romero J. Review and Proposal for a Classification System of Soft Robots Inspired by Animal Morphology. Biomimetics (Basel) 2023; 8:biomimetics8020192. [PMID: 37218778 DOI: 10.3390/biomimetics8020192] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2023] [Revised: 03/31/2023] [Accepted: 04/20/2023] [Indexed: 05/24/2023] Open
Abstract
The aim of this article is to propose a bio-inspired morphological classification for soft robots based on an extended review process. The morphology of living beings that inspire soft robotics was analyzed; we found coincidences between animal kingdom morphological structures and soft robot structures. A classification is proposed and depicted through experiments. Additionally, many soft robot platforms present in the literature are classified using it. This classification allows for order and coherence in the area of soft robotics and provides enough freedom to expand soft robotics research.
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Affiliation(s)
- Alexandro López-González
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
| | - Juan C Tejada
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
- Computational Intelligence and Automation Research Group (GIICA), Universidad EIA, Envigado 055428, Colombia
| | - Janet López-Romero
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
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11
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Picardi G, Astolfi A, Chatzievangelou D, Aguzzi J, Calisti M. Underwater legged robotics: review and perspectives. BIOINSPIRATION & BIOMIMETICS 2023; 18. [PMID: 36863018 DOI: 10.1088/1748-3190/acc0bb] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/24/2022] [Accepted: 03/02/2023] [Indexed: 05/09/2023]
Abstract
Nowadays, there is a growing awareness on the social and economic importance of the ocean. In this context, being able to carry out a diverse range of operations underwater is of paramount importance for many industrial sectors as well as for marine science and to enforce restoration and mitigation actions. Underwater robots allowed us to venture deeper and for longer time into the remote and hostile marine environment. However, traditional design concepts such as propeller driven remotely operated vehicles, autonomous underwater vehicles, or tracked benthic crawlers, present intrinsic limitations, especially when a close interaction with the environment is required. An increasing number of researchers are proposing legged robots as a bioinspired alternative to traditional designs, capable of yielding versatile multi-terrain locomotion, high stability, and low environmental disturbance. In this work, we aim at presenting the new field of underwater legged robotics in an organic way, discussing the prototypes in the state-of-the-art and highlighting technological and scientific challenges for the future. First, we will briefly recap the latest developments in traditional underwater robotics from which several technological solutions can be adapted, and on which the benchmarking of this new field should be set. Second, we will the retrace the evolution of terrestrial legged robotics, pinpointing the main achievements of the field. Third, we will report a complete state of the art on underwater legged robots focusing on the innovations with respect to the interaction with the environment, sensing and actuation, modelling and control, and autonomy and navigation. Finally, we will thoroughly discuss the reviewed literature by comparing traditional and legged underwater robots, highlighting interesting research opportunities, and presenting use case scenarios derived from marine science applications.
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Affiliation(s)
- G Picardi
- Instituto de Ciencias del Mar (ICM)-Consejo Superior de Investigaciones Científicas (CSIC), 08003 Barcelona, Spain
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - A Astolfi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - D Chatzievangelou
- Instituto de Ciencias del Mar (ICM)-Consejo Superior de Investigaciones Científicas (CSIC), 08003 Barcelona, Spain
| | - J Aguzzi
- Instituto de Ciencias del Mar (ICM)-Consejo Superior de Investigaciones Científicas (CSIC), 08003 Barcelona, Spain
| | - M Calisti
- Lincoln Institute for Agri-Food Technology, University of Lincoln, Lincoln LN6 7TS, United Kingdom
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12
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Yamashita S, Ito K. Six-legged crawling soft robot: NOBIYAKA. ARTIFICIAL LIFE AND ROBOTICS 2023. [DOI: 10.1007/s10015-023-00861-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/31/2023]
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13
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Chang HS, Halder U, Shih CH, Naughton N, Gazzola M, Mehta PG. Energy-shaping control of a muscular octopus arm moving in three dimensions. Proc Math Phys Eng Sci 2023. [DOI: 10.1098/rspa.2022.0593] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/04/2023] Open
Abstract
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists alike. In this article, we develop a three-dimensional model of a soft octopus arm, equipped with biomechanically realistic muscle actuation. Internal forces and couples exerted by all major muscle groups are considered. An energy-shaping control method is described to coordinate muscle activity so as to grasp and reach in three-dimensional space. Key contributions of this article are as follows: (i) modelling of major muscle groups to elicit three-dimensional movements; (ii) a mathematical formulation for muscle activations based on a stored energy function; and (iii) a computationally efficient procedure to design task-specific equilibrium configurations, obtained by solving an optimization problem in the Special Euclidean group
SE
(
3
)
. Muscle controls are then iteratively computed based on the co-state variable arising from the solution of the optimization problem. The approach is numerically demonstrated in the physically accurate software environment
Elastica
. Results of numerical experiments mimicking observed octopus behaviours are reported.
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Affiliation(s)
- Heng-Sheng Chang
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
- Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Udit Halder
- Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Chia-Hsien Shih
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Noel Naughton
- Beckman Institute for Advanced Science and Technology, Urbana, IL 61801, USA
| | - Mattia Gazzola
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
- National Center for Supercomputing Applications, Urbana, IL 61801, USA
- Carl R. Woese Institute for Genomic Biology, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Prashant G. Mehta
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
- Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
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14
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Milana E. Soft robotics for infrastructure protection. Front Robot AI 2022; 9:1026891. [DOI: 10.3389/frobt.2022.1026891] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/24/2022] [Accepted: 10/26/2022] [Indexed: 11/11/2022] Open
Abstract
The paradigm change introduced by soft robotics is going to dramatically push forward the abilities of autonomous systems in the next future, enabling their applications in extremely challenging scenarios. The ability of soft robots to safely interact and adapt to the surroundings is key to operate in unstructured environments, where the autonomous agent has little or no knowledge about the world around it. A similar context occurs when critical infrastructures face threats or disruptions, for examples due to natural disasters or external attacks (physical or cyber). In this case, autonomous systems may be employed to respond to such emergencies and have to be able to deal with unforeseen physical conditions and uncertainties, where the mechanical interaction with the environment is not only inevitable but also desirable to successfully perform their tasks. In this perspective, I discuss applications of soft robots for the protection of infrastructures, including recent advances in pipelines inspection, rubble search and rescue, and soft aerial manipulation, and promising perspectives on operations in radioactive environments, underwater monitoring and space exploration.
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15
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Dong X, Luo X, Zhao H, Qiao C, Li J, Yi J, Yang L, Oropeza FJ, Hu TS, Xu Q, Zeng H. Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications. SOFT MATTER 2022; 18:7699-7734. [PMID: 36205123 DOI: 10.1039/d2sm01067d] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/29/2023]
Abstract
Compared to traditional rigid-bodied robots, soft robots are constructed using physically flexible/elastic bodies and electronics to mimic nature and enable novel applications in industry, healthcare, aviation, military, etc. Recently, the fabrication of robots on soft matter with great flexibility and compliance has enabled smooth and sophisticated 'multi-degree-of-freedom' 3D actuation to seamlessly interact with humans, other organisms and non-idealized environments in a highly complex and controllable manner. Herein, we summarize the fabrication approaches, driving strategies, novel applications, and future trends of soft robots. Firstly, we introduce the different fabrication approaches to prepare soft robots and compare and systematically discuss their advantages and disadvantages. Then, we present the actuator-based and material-based driving strategies of soft robotics and their characteristics. The representative applications of soft robotics in artificial intelligence, medicine, sensors, and engineering are summarized. Also, some remaining challenges and future perspectives in soft robotics are provided. This work highlights the recent advances of soft robotics in terms of functional material selection, structure design, control strategies and biomimicry, providing useful insights into the development of next-generation functional soft robotics.
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Affiliation(s)
- Xiaoxiao Dong
- College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China.
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
| | - Xiaohang Luo
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Hong Zhao
- College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China.
| | - Chenyu Qiao
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
| | - Jiapeng Li
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Jianhong Yi
- Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China.
| | - Li Yang
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
- Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China.
| | - Francisco J Oropeza
- Department of Mechanical Engineering, California State University, Los Angeles, California 90032, USA
| | - Travis Shihao Hu
- Department of Mechanical Engineering, California State University, Los Angeles, California 90032, USA
| | - Quan Xu
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Hongbo Zeng
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
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16
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Wang D, Liu Y, Deng J, Zhang S, Li J, Wang W, Liu J, Chen W, Quan Q, Liu G, Xie H, Zhao J. Miniature Amphibious Robot Actuated by Rigid-Flexible Hybrid Vibration Modules. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2203054. [PMID: 35981889 PMCID: PMC9561757 DOI: 10.1002/advs.202203054] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/24/2022] [Revised: 07/24/2022] [Indexed: 06/15/2023]
Abstract
Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi-locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here, a miniature amphibious robot based on vibration-driven locomotion mechanism is developed. The robot has two unique rigid-flexible hybrid modules (RFH-modules), in which a soft foot and a flexible fin are arranged on a rigid leg to conduct vibrations from an eccentric motor to the environment. Then, it can run on ground with the soft foot adopting the friction locomotion mechanism and swim on water with the flexible fin utilizing the vibration-induced flow mechanism. The robot is untethered with a compact size of 75 × 95 × 21 mm3 and a small weight of 35 g owing to no transmission mechanism or joints. It realizes the maximum speed of 815 mm s-1 on ground and 171 mm s-1 on water. The robot, actuated by the RFH-modules based on vibration-driven locomotion mechanism, exhibits the merits of miniature structure and fast movements, indicating its great potential for applications in narrow amphibious environments.
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Affiliation(s)
- Dehong Wang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Yingxiang Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Deng
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Shijing Zhang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jing Li
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Weiyi Wang
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Junkao Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Weishan Chen
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Qiquan Quan
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Gangfeng Liu
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Hui Xie
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
| | - Jie Zhao
- State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China
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17
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Zhu S, Xie G, Cui H, Li Q, Forth J, Yuan S, Tian J, Pan Y, Guo W, Chai Y, Zhang Y, Yang Z, Yu RWH, Yu Y, Liu S, Chao Y, Shen Y, Zhao S, Russell TP, Shum HC. Aquabots. ACS NANO 2022; 16:13761-13770. [PMID: 35904791 DOI: 10.1021/acsnano.2c00619] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Soft robots, made from elastomers, easily bend and flex, but deformability constraints severely limit navigation through and within narrow, confined spaces. Using aqueous two-phase systems we print water-in-water constructs that, by aqueous phase-separation-induced self-assembly, produce ultrasoft liquid robots, termed aquabots, comprised of hierarchical structures that span in length scale from the nanoscopic to microsciopic, that are beyond the resolution limits of printing and overcome the deformability barrier. The exterior of the compartmentalized membranes is easily functionalized, for example, by binding enzymes, catalytic nanoparticles, and magnetic nanoparticles that impart sensitive magnetic responsiveness. These ultrasoft aquabots can adapt their shape for gripping and transporting objects and can be used for targeted photocatalysis, delivery, and release in confined and tortuous spaces. These biocompatible, multicompartmental, and multifunctional aquabots can be readily applied to medical micromanipulation, targeted cargo delivery, tissue engineering, and biomimetics.
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Affiliation(s)
- Shipei Zhu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Ganhua Xie
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- College of Chemistry and Chemical Engineering, Hunan University, Changsha 410082, P. R. China
| | - Huanqing Cui
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Qingchuan Li
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- School of Chemistry & Chemical Engineering, National Engineering Research Center for Colloidal Materials, Shandong University, Jinan 250100, P. R. China
| | - Joe Forth
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- Department of Chemistry, University College London, London WC1H 0AJ, United Kingdom
| | - Shuai Yuan
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Jingxuan Tian
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Yi Pan
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Wei Guo
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Yu Chai
- Department of Physics, The City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong 999077, P. R. China
| | - Yage Zhang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Zhenyu Yang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Ryan Wing Hei Yu
- Department of Engineering, University of Cambridge, Trumpington Street, Cambridge CB2 1PZ, U.K
| | - Yafeng Yu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
| | - Sihan Liu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- Department of Electrical and Electronics Engineering, Southern University of Science and Technology, Shenzhen 518055, P. R. China
| | - Youchuang Chao
- Max Planck Institute for Dynamics and Self-Organization, Göttingen 37077, Germany
| | - Yinan Shen
- Department of Physics, Harvard University, Cambridge 02138, Massachusetts, United States
| | - Sai Zhao
- Department of Physics, The City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong 999077, P. R. China
| | - Thomas P Russell
- Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley 94720, California, United States
- Polymer Science and Engineering Department, University of Massachusetts, Amherst 01003, Massachusetts, United States
- Beijing Advanced Innovation Center for Soft Matter Science and Engineering, Beijing University of Chemical Technology, Beijing 100029, P. R. China
- WPI-Advanced Institute for Materials Research, Tohoku University, Sendai 980-8577, Japan
| | - Ho Cheung Shum
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 999077, (SAR), Hong Kong, P. R. China
- Advanced Biomedical Instrumentation Centre, Hong Kong Science Park, Shatin, New Territories, Hong Kong 999077, (SAR), Hong Kong, P. R. China
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18
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Sherrod V, Johnson CC, Killpack MD. Design Optimization for Rough Terrain Traversal Using a Compliant, Continuum-Joint, Quadruped Robot. Front Robot AI 2022; 9:860020. [PMID: 35899074 PMCID: PMC9310103 DOI: 10.3389/frobt.2022.860020] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2022] [Accepted: 06/15/2022] [Indexed: 11/13/2022] Open
Abstract
Legged robots have the potential to cover terrain not accessible to wheel-based robots and vehicles. This makes them better suited to perform tasks such as search and rescue in real-world unstructured environments. In addition, pneumatically-actuated, compliant robots may be more suited than their rigid counterparts to real-world unstructured environments with humans where unintentional contact or impact may occur. In this work, we define design metrics for legged robots that evaluate their ability to traverse unstructured terrain, carry payloads, find stable footholds, and move in desired directions. These metrics are demonstrated and validated in a multi-objective design optimization of 10 variables for a 16 degree of freedom, pneumatically actuated, continuum joint quadruped. We also present and validate approximations to preserve numerical tractability for any similar high degree of freedom optimization problem. Finally, we show that the design trends uncovered by our optimization hold in two hardware experiments using robot legs with continuum joints that are built based on the optimization results.
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19
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Recent Progress in Modeling and Control of Bio-Inspired Fish Robots. JOURNAL OF MARINE SCIENCE AND ENGINEERING 2022. [DOI: 10.3390/jmse10060773] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Abstract
Compared with traditional underwater vehicles, bio-inspired fish robots have the advantages of high efficiency, high maneuverability, low noise, and minor fluid disturbance. Therefore, they have gained an increasing research interest, which has led to a great deal of remarkable progress theoretically and practically in recent years. In this review, we first highlight our enhanced scientific understanding of bio-inspired propulsion and sensing underwater and then present the research progress and performance characteristics of different bio-inspired robot fish, classified by the propulsion method. Like the natural fish species they imitate, different types of bionic fish have different morphological structures and distinctive hydrodynamic properties. In addition, we select two pioneering directions about soft robotic control and multi-phase robotics. The hybrid dynamic control of soft robotic systems combines the accuracy of model-based control and the efficiency of model-free control, and is considered the proper way to optimize the classical control model with the intersection of multiple machine learning algorithms. Multi-phase robots provide a broader scope of application compared to ordinary bionic robot fish, with the ability of operating in air or on land outside the fluid. By introducing recent progress in related fields, we summarize the advantages and challenges of soft robotic control and multi-phase robotics, guiding the further development of bionic aquatic robots.
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20
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Detachable Soft Actuators with Tunable Stiffness Based on Wire Jamming. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12073582] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
The integration of variable stiffness materials and structures into soft robots is a popular trend, allowing soft robots to switch between soft and rigid states in different situations. This concept combines the advantages of rigid mechanisms and soft robots, resulting in not only excellent flexibility but also tunable stiffness for high load capacity and fast and precise operation. Here, a stiffness-tunable soft actuator based on wire/fiber jamming structure is proposed, where the fiber-reinforced soft actuator is responsible for the bending motion, and the jamming structure acts as a stiffness-tunable layer controlled by vacuum pressure. The primary design objective of this study is to fabricate a jamming structure with wide-range stiffness, universal adaptability and high dexterity. Thus, the behaviors of wire/fiber jamming structures with different layouts, materials and wire arrangements are analyzed, and a theoretical model is developed to predict the effect of geometric parameters. Experimental characterizations show that the stiffness can be significantly enhanced in the bending direction, while the stiffness is smaller in the torsion direction. Additionally, by integrating Velcro strips into the design, a quick and detachable scheme for the stiffness-tunable soft actuator is achieved. Application examples exhibit high load capacity and good shape adaptability.
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21
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Almubarak Y, Schmutz M, Perez M, Shah S, Tadesse Y. Kraken: a wirelessly controlled octopus-like hybrid robot utilizing stepper motors and fishing line artificial muscle for grasping underwater. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS 2022. [DOI: 10.1007/s41315-021-00219-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022]
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22
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Youssef SM, Soliman M, Saleh MA, Mousa MA, Elsamanty M, Radwan AG. Underwater Soft Robotics: A Review of Bioinspiration in Design, Actuation, Modeling, and Control. MICROMACHINES 2022; 13:mi13010110. [PMID: 35056275 PMCID: PMC8778375 DOI: 10.3390/mi13010110] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/04/2021] [Revised: 12/31/2021] [Accepted: 01/02/2022] [Indexed: 12/27/2022]
Abstract
Nature and biological creatures are some of the main sources of inspiration for humans. Engineers have aspired to emulate these natural systems. As rigid systems become increasingly limited in their capabilities to perform complex tasks and adapt to their environment like living creatures, the need for soft systems has become more prominent due to the similar complex, compliant, and flexible characteristics they share with intelligent natural systems. This review provides an overview of the recent developments in the soft robotics field, with a focus on the underwater application frontier.
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Affiliation(s)
- Samuel M. Youssef
- Smart Engineering Systems Research Center (SESC), Nile University, Sheikh Zayed City 12588, Egypt;
- Correspondence:
| | - MennaAllah Soliman
- School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City 12588, Egypt; (M.S.); (M.A.S.); (A.G.R.)
| | - Mahmood A. Saleh
- School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City 12588, Egypt; (M.S.); (M.A.S.); (A.G.R.)
| | - Mostafa A. Mousa
- Nile University’s Innovation Hub, Nile University, Sheikh Zayed City 12588, Egypt;
| | - Mahmoud Elsamanty
- Smart Engineering Systems Research Center (SESC), Nile University, Sheikh Zayed City 12588, Egypt;
- Mechanical Department, Faculty of Engineering at Shoubra, Benha University, Cairo 11672, Egypt
| | - Ahmed G. Radwan
- School of Engineering and Applied Sciences, Nile University, Sheikh Zayed City 12588, Egypt; (M.S.); (M.A.S.); (A.G.R.)
- Department of Engineering Mathematics and Physics, Cairo University, Giza 12613, Egypt
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23
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Quinn D, Lauder G. Tunable stiffness in fish robotics: mechanisms and advantages. BIOINSPIRATION & BIOMIMETICS 2021; 17:011002. [PMID: 34814125 DOI: 10.1088/1748-3190/ac3ca5] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/07/2021] [Accepted: 11/23/2021] [Indexed: 06/13/2023]
Abstract
One of the emerging themes of fish-inspired robotics is flexibility. Adding flexibility to the body, joints, or fins of fish-inspired robots can significantly improve thrust and/or efficiency during locomotion. However, the optimal stiffness depends on variables such as swimming speed, so there is no one 'best' stiffness that maximizes efficiency in all conditions. Fish are thought to solve this problem by using muscular activity to tune their body and fin stiffness in real-time. Inspired by fish, some recent robots sport polymer actuators, adjustable leaf springs, or artificial tendons that tune stiffness mechanically. Models and water channel tests are providing a theoretical framework for stiffness-tuning strategies that devices can implement. The strategies can be thought of as analogous to car transmissions, which allow users to improve efficiency by tuning gear ratio with driving speed. We provide an overview of the latest discoveries about (1) the propulsive benefits of flexibility, particularlytunableflexibility, and (2) the mechanisms and strategies that fish and fish-inspired robots use to tune stiffness while swimming.
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Affiliation(s)
- Daniel Quinn
- Mechanical & Aerospace Engineering, University of Virginia, Charlottesville, VA, United States of America
- Electrical & Computer Engineering, University of Virginia, Charlottesville, VA, United States of America
| | - George Lauder
- Department of Organismic and Evolutionary Biology, Harvard University, Cambridge, MA, United States of America
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24
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Feng R, Zhang Y, Liu J, Zhang Y, Li J, Baoyin H. Soft Robotic Perspective and Concept for Planetary Small Body Exploration. Soft Robot 2021; 9:889-899. [PMID: 34939854 DOI: 10.1089/soro.2021.0054] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022] Open
Abstract
Tens of thousands of planetary small bodies (asteroids, comets, and small moons) are flying beside our Earth with little understanding. Explorers on the surfaces of these bodies, unlike the Lunar or Mars rovers, have only few attempts and no sophisticated solution. Current concerns mainly focus on landing uncertainties and mobility limitations, which soft robots may suitably aid utilizing their compliance and adaptivity. In this study, we present a perspective of designating soft robots for the surface exploration. Based on the lessons from recent space missions and an astronomy survey, we summarize the surface features of typical small bodies and the associated challenges for possible soft robotic design. Different kinds of soft mobile robots are reviewed, whose morphology and locomotion are analyzed for the microgravity, rugged environment. We also propose an alternative to current asteroid hoppers, as a case of applying progress in soft material. Specifically, the structure is a deployable cube whose outer shell is made of shape memory polymer, so that it can achieve morphing and variable stiffness between liftoff and landing phases. Dynamic simulations of the free-fall landing are carried out with a rigid counterpart for comparison. The results show that the soft deployed shell can effectively contribute to dissipating the kinetic energy and attenuating the excessive rebounds.
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Affiliation(s)
- Ruoyu Feng
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Yu Zhang
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Jinyu Liu
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Yonglong Zhang
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Junfeng Li
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Hexi Baoyin
- School of Aerospace Engineering, Tsinghua University, Beijing, China
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25
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Kim YI, An S, Park C, Kim T, Aldalbahi A, Hatshan MR, Yarin AL, Yoon SS. Nanotextured Soft Electrothermo-Pneumatic Actuator for Constructing Lightweight, Integrated, and Untethered Soft Robotics. Soft Robot 2021; 9:960-969. [PMID: 34918958 DOI: 10.1089/soro.2020.0142] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
In this study, we fabricated a nanofiber-based electrothermo-pneumatic soft actuator (ETPSA) using electrospinning technique. The actuator uses liquid-vapor phase transition. The ETPSA developed in the present study goes beyond the limitations of the existing pneumatic soft actuators. The present ETPSA has a built-in source of heat (Joule heating from an embedded metal wire) and allows the smooth anthropomorphic movement of the actuator and, in particular, eliminates the use of external pumping systems that are indispensable in the existing pneumatic soft actuators and robots. In addition, since the present ETPSA can be operated effectively even using a portable miniature battery, it holds great promise as an adaptable soft actuator for various robotic applications with high energy efficiency and programmable motions.
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Affiliation(s)
- Yong Il Kim
- Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Seongpil An
- SKKU Advanced Institute of Nanotechnology (SAINT), Department of Nano Engineering, Sungkyunkwan University (SKKU), Suwon, Republic of Korea
| | - Chanwoo Park
- Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Taegun Kim
- Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Ali Aldalbahi
- Department of Chemistry, College of Science, King Saud University, Riyadh, Saudi Arabia
| | - Mohammad Rafe Hatshan
- Department of Chemistry, College of Science, King Saud University, Riyadh, Saudi Arabia
| | - Alexander L Yarin
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, Illinois, USA
| | - Sam S Yoon
- Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea
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26
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Wang T, Sun E, Zhu S. Contact force estimation of hydraulic soft bending actuators for gripping. Adv Robot 2021. [DOI: 10.1080/01691864.2021.1967779] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
Affiliation(s)
- Tao Wang
- Ocean College, Zhejiang University, Zhoushan, People’s Republic of China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, People’s Republic of China
- Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province, Zhoushan, People’s Republic of China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan, People’s Republic of China
| | - Enlai Sun
- Ocean College, Zhejiang University, Zhoushan, People’s Republic of China
| | - Shiqiang Zhu
- Ocean College, Zhejiang University, Zhoushan, People’s Republic of China
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27
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Sharifi S, Rux C, Sparling N, Wan G, Mohammadi Nasab A, Siddaiah A, Menezes P, Zhang T, Shan W. Dynamically Tunable Friction via Subsurface Stiffness Modulation. Front Robot AI 2021; 8:691789. [PMID: 34277718 PMCID: PMC8281354 DOI: 10.3389/frobt.2021.691789] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/07/2021] [Accepted: 06/09/2021] [Indexed: 11/13/2022] Open
Abstract
Currently soft robots primarily rely on pneumatics and geometrical asymmetry to achieve locomotion, which limits their working range, versatility, and other untethered functionalities. In this paper, we introduce a novel approach to achieve locomotion for soft robots through dynamically tunable friction to address these challenges, which is achieved by subsurface stiffness modulation (SSM) of a stimuli-responsive component within composite structures. To demonstrate this, we design and fabricate an elastomeric pad made of polydimethylsiloxane (PDMS), which is embedded with a spiral channel filled with a low melting point alloy (LMPA). Once the LMPA strip is melted upon Joule heating, the compliance of the composite structure increases and the friction between the composite surface and the opposing surface increases. A series of experiments and finite element analysis (FEA) have been performed to characterize the frictional behavior of these composite pads and elucidate the underlying physics dominating the tunable friction. We also demonstrate that when these composite structures are properly integrated into soft crawling robots inspired by inchworms and earthworms, the differences in friction of the two ends of these robots through SSM can potentially be used to generate translational locomotion for untethered crawling robots.
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Affiliation(s)
- Siavash Sharifi
- Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, United States.,Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
| | - Caleb Rux
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States.,Mechanical and Industrial Engineering Department, Montana State University, Bozeman, MT, United States
| | - Nathaniel Sparling
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States.,Mechanical and Industrial Engineering Department, Montana State University, Bozeman, MT, United States
| | - Guangchao Wan
- Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, United States
| | - Amir Mohammadi Nasab
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
| | - Arpith Siddaiah
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
| | - Pradeep Menezes
- Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
| | - Teng Zhang
- Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, United States
| | - Wanliang Shan
- Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, United States.,Department of Mechanical Engineering, University of Nevada, Reno, NV, United States
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28
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Isbister A, Bailey NY, Georgilas I. An Integrated Kinematic Modeling and Experimental Approach for an Active Endoscope. Front Robot AI 2021; 8:667205. [PMID: 34262946 PMCID: PMC8274713 DOI: 10.3389/frobt.2021.667205] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/12/2021] [Accepted: 06/10/2021] [Indexed: 11/13/2022] Open
Abstract
Continuum robots are a type of robotic device that are characterized by their flexibility and dexterity, thus making them ideal for an active endoscope. Instead of articulated joints they have flexible backbones that can be manipulated remotely, usually through tendons secured onto structures attached to the backbone. This structure makes them lightweight and ideal to be miniaturized for endoscopic applications. However, their flexibility poses technical challenges in the modeling and control of these devices, especially when closed-loop control is needed, as is the case in medical applications. There are two main approaches in the modeling of continuum robots, the first is to theoretically model the behavior of the backbone and the interaction with the tendons, while the second is to collect experimental observations and retrospectively apply a model that can approximate their apparent behavior. Both approaches are affected by the complexity of continuum robots through either model accuracy/computational time (theoretical method) or missing complex system interactions and lacking expandability (experimental method). In this work, theoretical and experimental descriptions of an endoscopic continuum robot are merged. A simplified yet representative mathematical model of a continuum robot is developed, in which the backbone model is based on Cosserat rod theory and is coupled to the tendon tensions. A robust numerical technique is formulated that has low computational costs. A bespoke experimental facility with precise automated motion of the backbone via the precise control of tendon tension, leads to a robust and detailed description of the system behavior provided through a contactless sensor. The resulting facility achieves a real-world mean positioning error of 3.95% of the backbone length for the examined range of tendon tensions which performs favourably to existing approaches. Moreover, it incorporates hysteresis behavior that could not be predicted by the theoretical modeling alone, reinforcing the benefits of the hybrid approach. The proposed workflow is theoretically grounded and experimentally validated allowing precise prediction of the continuum robot behavior, adhering to realistic observations. Based on this accurate estimation and the fact it is geometrically agnostic enables the proposed model to be scaled for various robotic endoscopes.
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Affiliation(s)
- Andrew Isbister
- Department of Mechanical Engineering, University of Bath, Bath, United Kingdom
| | - Nicola Y Bailey
- Department of Mechanical Engineering, University of Bath, Bath, United Kingdom
| | - Ioannis Georgilas
- Department of Mechanical Engineering, University of Bath, Bath, United Kingdom
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29
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Bhovad P, Li S. Physical reservoir computing with origami and its application to robotic crawling. Sci Rep 2021; 11:13002. [PMID: 34155251 PMCID: PMC8217268 DOI: 10.1038/s41598-021-92257-1] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/05/2021] [Accepted: 06/04/2021] [Indexed: 12/17/2022] Open
Abstract
A new paradigm called physical reservoir computing has recently emerged, where the nonlinear dynamics of high-dimensional and fixed physical systems are harnessed as a computational resource to achieve complex tasks. Via extensive simulations based on a dynamic truss-frame model, this study shows that an origami structure can perform as a dynamic reservoir with sufficient computing power to emulate high-order nonlinear systems, generate stable limit cycles, and modulate outputs according to dynamic inputs. This study also uncovers the linkages between the origami reservoir's physical designs and its computing power, offering a guideline to optimize the computing performance. Comprehensive parametric studies show that selecting optimal feedback crease distribution and fine-tuning the underlying origami folding designs are the most effective approach to improve computing performance. Furthermore, this study shows how origami's physical reservoir computing power can apply to soft robotic control problems by a case study of earthworm-like peristaltic crawling without traditional controllers. These results can pave the way for origami-based robots with embodied mechanical intelligence.
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Affiliation(s)
- Priyanka Bhovad
- Department of Mechanical Engineering, Clemson University, Clemson, SC, USA.
| | - Suyi Li
- Department of Mechanical Engineering, Clemson University, Clemson, SC, USA
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30
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Wu Q, Yang X, Wu Y, Zhou Z, Wang J, Zhang B, Luo Y, Chepinskiy SA, Zhilenkov AA. A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus. BIOINSPIRATION & BIOMIMETICS 2021; 16:046007. [PMID: 33836505 DOI: 10.1088/1748-3190/abf6b9] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/07/2020] [Accepted: 04/09/2021] [Indexed: 06/12/2023]
Abstract
In order to increase the compatibility between underwater robots and the underwater environment and inspired by the coconut octopus's underwater bipedal walking, a method was proposed for bipedal walking for an underwater soft robot based on a spring-loaded inverted pendulum (SLIP) model. Using the characteristics of octopus tentacles rolling on the ground, a wrist arm was designed using the cable-driven method, and an underwater SLIP bipedal walking model was established, which makes an underwater soft robot more suitable for moving on uneven ground. An underwater bipedal walking soft robot based on coconut octopus was then designed, and a machine vision algorithm was used to extract the motion information for analysis. Experimental analysis shows that the underwater bipedal walking robot can achieve an average speed of 6.48 cm s-1, and the maximum instantaneous speed can reach 8.14 cm s-1.
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Affiliation(s)
- Qiuxuan Wu
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China
| | - Xiaochen Yang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China
| | - Yan Wu
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China
| | - Zhijun Zhou
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China
| | - Jian Wang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China
| | - Botao Zhang
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China
| | - Yanbin Luo
- Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China
| | - Sergey A Chepinskiy
- Faculty of Control Systems and Robotics, ITMO University, St. Petersburg, Russia
| | - Anton A Zhilenkov
- Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, Russia
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31
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Yurugi M, Shimanokami M, Nagai T, Shintake J, Ikemoto Y. Cartilage structure increases swimming efficiency of underwater robots. Sci Rep 2021; 11:11288. [PMID: 34050230 PMCID: PMC8163796 DOI: 10.1038/s41598-021-90926-9] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/01/2021] [Accepted: 05/17/2021] [Indexed: 12/03/2022] Open
Abstract
Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilage structures encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilage structure in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.
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Affiliation(s)
- Masaki Yurugi
- Faculty of Science and Technology, Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya, 468-8502, Japan
| | - Makoto Shimanokami
- Faculty of Science and Technology, Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya, 468-8502, Japan
| | - Toshiaki Nagai
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
| | - Jun Shintake
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
| | - Yusuke Ikemoto
- Faculty of Science and Technology, Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya, 468-8502, Japan.
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32
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Shen Z, Zhao Y, Zhong H, Tang K, Chen Y, Xiao Y, Yi J, Liu S, Wang Z. Soft Origami Optical-Sensing Actuator for Underwater Manipulation. Front Robot AI 2021; 7:616128. [PMID: 33778012 PMCID: PMC7988097 DOI: 10.3389/frobt.2020.616128] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/11/2020] [Accepted: 12/17/2020] [Indexed: 01/28/2023] Open
Abstract
Soft robots are ideal for underwater manipulation in sampling and other servicing applications. Their unique features of compliance, adaptability, and being naturally waterproof enable robotic designs to be compact and lightweight, while achieving uncompromized dexterity and flexibility. However, the inherent flexibility and high nonlinearity of soft materials also results in combined complex motions, which creates both soft actuator and sensor challenges for force output, modeling, and sensory feedback, especially under highly dynamic underwater environments. To tackle these limitations, a novel Soft Origami Optical-Sensing Actuator (SOSA) with actuation and sensing integration is proposed in this paper. Inspired by origami art, the proposed sensorized actuator enables a large force output, contraction/elongation/passive bending actuation by fluid, and hybrid motion sensing with optical waveguides. The SOSA design brings two major novelties over current designs. First, it involves a new actuation-sensing mode which enables a superior large payload output and a robust and accurate sensing performance by introducing the origami design, significantly facilitating the integration of sensing and actuating technology for wider applications. Secondly, it simplifies the fabrication process for harsh environment application by investigating the boundary features between optical waveguides and ambient water, meaning the external cladding layer of traditional sensors is unnecessary. With these merits, the proposed actuator could be applied to harsh environments for complex interaction/operation tasks. To showcase the performance of the proposed SOSA actuator, a hybrid underwater 3-DOFs manipulator has been developed. The entire workflow on concept design, fabrication, modeling, experimental validation, and application are presented in detail as reference for wider effective robot-environment applications.
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Affiliation(s)
- Zhong Shen
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China
| | - Yafei Zhao
- Department of Computer Science, The University of Hong Kong, Hong Kong, China
| | - Hua Zhong
- Department of Computer Science, The University of Hong Kong, Hong Kong, China
| | - Kailuan Tang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shen Zhen, China
| | - Yishan Chen
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shen Zhen, China
| | - Yin Xiao
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shen Zhen, China
| | - Juan Yi
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shen Zhen, China
| | - Sicong Liu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shen Zhen, China
| | - Zheng Wang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China.,Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shen Zhen, China
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White CH, Lauder GV, Bart-Smith H. Tunabot Flex: a tuna-inspired robot with body flexibility improves high-performance swimming. BIOINSPIRATION & BIOMIMETICS 2021; 16:026019. [PMID: 32927442 DOI: 10.1088/1748-3190/abb86d] [Citation(s) in RCA: 35] [Impact Index Per Article: 11.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/12/2020] [Accepted: 09/14/2020] [Indexed: 06/11/2023]
Abstract
Tunas are flexible, high-performance open ocean swimmers that operate at high frequencies to achieve high swimming speeds. Most fish-like robotic systems operate at low frequencies (≤3 Hz) resulting in low swim speeds (≤1.5 body lengths per second), and the cost of transport (COT) is often one to four orders of magnitude higher than that of tunas. Furthermore, the impact of body flexibility on high-performance fish swimming remains unknown. Here we design and test a research platform based on yellowfin tuna (Thunnus albacares) to investigate the role of body flexibility and to close the performance gap between robotic and biological systems. This single-motor platform, termed Tunabot Flex, measures 25.5 cm in length. Flexibility is varied through joints in the tail to produce three tested configurations. We find that increasing body flexibility improves self-propelled swimming speeds on average by 0.5 body lengths per second while reducing the minimum COT by 53%. The most flexible configuration swims 4.60 body lengths per second with a tail beat frequency of 8.0 Hz and a COT measuring 18.4 J kg-1m-1. We then compare these results in addition to the midline kinematics, stride length, and Strouhal number with yellowfin tuna data. The COT of Tunabot Flex's most flexible configuration is less than a half-order of magnitude greater than that of yellowfin tuna across all tested speeds. Tunabot Flex provides a new baseline for the development of future bio-inspired underwater vehicles that aim to explore a fish-like, high-performance space and close the gap between engineered robotic systems and fish swimming ability.
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Affiliation(s)
- Carl H White
- Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, United States of America
| | - George V Lauder
- Museum of Comparative Zoology, Harvard University, 26 Oxford Street, Cambridge, MA 02138, United States of America
| | - Hilary Bart-Smith
- Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, United States of America
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34
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Soft Underwater Robot Actuated by Shape-Memory Alloys “JellyRobcib” for Path Tracking through Fuzzy Visual Control. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10207160] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Recent developments in bioinspired technologies combined with the advance of intelligent and soft materials have allowed soft robots to replicate the behavior of different animal species. These devices can perform complicated tasks such as reaching or adapting in constrained and unstructured environments. This article proposes a methodology to develop a soft robot called “JellyRobcib” inspired in morphology and behavior by jellyfish, using shape-memory alloy springs as actuators (as bio-muscles). Such actuators can move the jellyfish both vertically and laterally by applying closed-loop fuzzy and visual controls. Additionally, Computer-Assisted Designs and Computational Fluid Dynamics simulations have been carried out to validate the soft robot model. The results show that the robot movements are very close to the morphological behavior of a real jellyfish regarding the curves of displacements, speeds and accelerations, after performing several experiments for autonomous movement: vertical ascent, lateral movements and trajectory tracking, obtaining an accuracy of ±1479 cm and repeatability of 0.944 for lateral movements for fuzzy visual control. Furthermore, thermal measurements were taken throughout a given path, allowing the generation of temperature gradients within the underwater environment for monitoring purposes.
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35
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Shen Z, Zhong H, Xu E, Zhang R, Yip KC, Chan LL, Chan LL, Pan J, Wang W, Wang Z. An Underwater Robotic Manipulator with Soft Bladders and Compact Depth-Independent Actuation. Soft Robot 2020; 7:535-549. [PMID: 32109180 PMCID: PMC7591381 DOI: 10.1089/soro.2019.0087] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
An underwater manipulator is essential for underwater robotic sampling and other service operations. Conventional rigid body underwater manipulators generally required substantial size and weight, leading to hindered general applications. Pioneering soft robotic underwater manipulators have defied this by offering dexterous and lightweight arms and grippers, but still requiring substantial actuation and control components to withstand the water pressure and achieving the desired dynamic performance. In this work, we propose a novel approach to underwater manipulator design and control, exploiting the unique characteristics of soft robots, with a hybrid structure (rigid frame+soft actuator) for improved rigidity and force output, a uniform actuator design allowing one compact hydraulic actuation system to drive all actuators, and a novel fully customizable soft bladder design that improves performances in multiple areas: (1) force output of the actuator is decoupled from the working depth, enabling wide working ranges; (2) all actuators are connected to the main hydraulic line without actuator-specific control loop, resulting in a very compact actuation system especially for high-dexterity cases; (3) dynamic responses were improved significantly compared with the counter system without bladder. A prototype soft manipulator with 4-DOFs, dual bladders, and 15 N payload was developed; the entire system (including actuation, control, and batteries) could be mounted onto a consumer-grade remotely operated vehicle, with depth-independent performances validated by various laboratory and field test results across various climatic and hydrographic conditions. Analytical models and validations of the proposed soft bladder design were also presented as a guideline for other applications.
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Affiliation(s)
- Zhong Shen
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Hua Zhong
- Department of Computer Science, The University of Hong Kong, Hong Kong SAR, China
| | - Erchao Xu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Runzhi Zhang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China
| | - Ki Chun Yip
- State Key Laboratory of Marine Pollution and Shenzhen Key Laboratory for the Sustainable Use of Marine Biodiversity, City University of Hong Kong, Hong Kong SAR, China
| | - Lawrence Long Chan
- State Key Laboratory of Marine Pollution and Shenzhen Key Laboratory for the Sustainable Use of Marine Biodiversity, City University of Hong Kong, Hong Kong SAR, China
| | - Leo Lai Chan
- State Key Laboratory of Marine Pollution and Shenzhen Key Laboratory for the Sustainable Use of Marine Biodiversity, City University of Hong Kong, Hong Kong SAR, China
| | - Jia Pan
- Department of Computer Science, The University of Hong Kong, Hong Kong SAR, China
| | - Wenping Wang
- Department of Computer Science, The University of Hong Kong, Hong Kong SAR, China
| | - Zheng Wang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
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36
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OctoPartenopin: Identification and Preliminary Characterization of a Novel Antimicrobial Peptide from the Suckers of Octopus vulgaris. Mar Drugs 2020; 18:md18080380. [PMID: 32717885 PMCID: PMC7460285 DOI: 10.3390/md18080380] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/09/2020] [Revised: 07/03/2020] [Accepted: 07/21/2020] [Indexed: 02/07/2023] Open
Abstract
Microorganism resistance to conventional antibiotics represents one of the major global health concerns. This paper focuses on a peptide (OctoPartenopin) extracted from suckers of Octopus vulgaris; bioassay-guided chromatographic fractionation was used to identify this sequence, which holds significant antibacterial activity against Gram-positive and Gram-negative bacteria. OctoPartenopin is encrypted within the calponin sequence and was associated with the high levels of proteolytic activity already reported in octopus arm suckers. We synthesized the parent peptide and four analogues; all peptide were tested for their antibacterial and antibiofilm activities. Preliminary antibiofilm experiments showed that that one of the analogues had the best activity in both inhibition and eradication of biofilm of all three microorganisms tested. The occurrence of OctoPartenopin in arm suckers provided novel speculative information on animal behavior, as concerns maternal care of fertilized eggs. Our results highlight that suckers are a rich source of multifaceted peptides to develop alternative antimicrobial agents and food preservatives.
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37
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Aguzzi J, Flexas MM, Flögel S, Lo Iacono C, Tangherlini M, Costa C, Marini S, Bahamon N, Martini S, Fanelli E, Danovaro R, Stefanni S, Thomsen L, Riccobene G, Hildebrandt M, Masmitja I, Del Rio J, Clark EB, Branch A, Weiss P, Klesh AT, Schodlok MP. Exo-Ocean Exploration with Deep-Sea Sensor and Platform Technologies. ASTROBIOLOGY 2020; 20:897-915. [PMID: 32267735 DOI: 10.1089/ast.2019.2129] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
One of Saturn's largest moons, Enceladus, possesses a vast extraterrestrial ocean (i.e., exo-ocean) that is increasingly becoming the hotspot of future research initiatives dedicated to the exploration of putative life. Here, a new bio-exploration concept design for Enceladus' exo-ocean is proposed, focusing on the potential presence of organisms across a wide range of sizes (i.e., from uni- to multicellular and animal-like), according to state-of-the-art sensor and robotic platform technologies used in terrestrial deep-sea research. In particular, we focus on combined direct and indirect life-detection capabilities, based on optoacoustic imaging and passive acoustics, as well as molecular approaches. Such biologically oriented sampling can be accompanied by concomitant geochemical and oceanographic measurements to provide data relevant to exo-ocean exploration and understanding. Finally, we describe how this multidisciplinary monitoring approach is currently enabled in terrestrial oceans through cabled (fixed) observatories and their related mobile multiparametric platforms (i.e., Autonomous Underwater and Remotely Operated Vehicles, as well as crawlers, rovers, and biomimetic robots) and how their modified design can be used for exo-ocean exploration.
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Affiliation(s)
- J Aguzzi
- Instituto de Ciencias del Mar (ICM-CSIC), Barcelona, Spain
- Stazione Zoologica Anton Dohrn, Naples, Italy
| | - M M Flexas
- California Institute of Technology, Pasadena, California, USA
| | - S Flögel
- GEOMAR Helmholtz Centre for Ocean Research Kiel, Kiel, Germany
| | - C Lo Iacono
- Instituto de Ciencias del Mar (ICM-CSIC), Barcelona, Spain
- National Oceanographic Center (NOC), University of Southampton, Southampton, United Kingdom
| | | | - C Costa
- Consiglio per la ricerca in agricoltura e l'analisi dell'economia agraria (CREA)-Centro di ricerca Ingegneria e Trasformazioni agroalimentari - Monterotondo, Rome, Italy
| | - S Marini
- Stazione Zoologica Anton Dohrn, Naples, Italy
- National Research Council of Italy (CNR), Institute of Marine Sciences, La Spezia, Italy
| | - N Bahamon
- Instituto de Ciencias del Mar (ICM-CSIC), Barcelona, Spain
- Centro de Estudios Avanzados de Blanes (CEAB-CSIC), Blanes, Spain
| | - S Martini
- Sorbonne Université, CNRS, Laboratoire d'Océanographie de Villefranche, Villefranche-sur-mer, France
| | - E Fanelli
- Stazione Zoologica Anton Dohrn, Naples, Italy
- Department of Life and Environmental Sciences, Polytechnic University of Marche, Ancona, Italy
| | - R Danovaro
- Stazione Zoologica Anton Dohrn, Naples, Italy
- Department of Life and Environmental Sciences, Polytechnic University of Marche, Ancona, Italy
| | - S Stefanni
- Stazione Zoologica Anton Dohrn, Naples, Italy
| | | | - G Riccobene
- Istituto Nazionale di Fisica Nucleare (INFN), Laboratori Nazionali del Sud, Catania, Italy
| | - M Hildebrandt
- German Research Center for Artificial Intelligence (DFKI), Bremen, Germany
| | - I Masmitja
- SARTI, Universitat Politècnica de Catalunya (UPC), Barcelona, Spain
| | - J Del Rio
- SARTI, Universitat Politècnica de Catalunya (UPC), Barcelona, Spain
| | - E B Clark
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California, USA
| | - A Branch
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California, USA
| | | | - A T Klesh
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California, USA
| | - M P Schodlok
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California, USA
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38
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Li Y, Ren T, Li Y, Liu Q, Chen Y. Untethered-Bioinspired Quadrupedal Robot Based on Double-Chamber Pre-charged Pneumatic Soft Actuators with Highly Flexible Trunk. Soft Robot 2020; 8:97-108. [PMID: 32522089 DOI: 10.1089/soro.2019.0137] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Given that mobile soft robots are adaptable to the environment, they are always tethered with slow locomotion speed. Compared with other types of mobile robots, mobile soft robots may be more suitable for rescuing tasks, accompanying elderly people, and being used as a safe toy for children. However, the infinite freedom of soft robots increases the difficulty of precision control. In addition, the large volume and long tube of the conventional soft actuator structure limit the range of motion of current mobile soft robots. In this article, a newly designed innovative untethered-bioinspired quadrupedal robot based on double-chamber pre-charged pneumatic (DCPCP) soft actuators with highly flexible trunk is proposed. Asymmetrical cross-tendons actuated by servo motors are used to drive the DCPCP soft legs so that buckling can be avoided and mimic the gait of quadruped animals with the simplest drive and control strategy. In addition, the proposed design greatly improves energy efficiency and exhibits superior performance of variable stiffness. The bioinspired highly flexible trunk is designed with the supporting spine structure and tendon driven muscle to deform, which can constantly adjust to the contact situation between the foot and the ground to adjust the center of gravity of the soft quadruped robot and increase stability when walking and turning. The proposed soft quadruped robot does not require any air compressors, valves, and hoses. The characteristics of untethered, high-energy efficiency, linear control, and stability make the soft quadruped robot suitable for many applications.
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Affiliation(s)
- Yujia Li
- College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu, China
| | - Tao Ren
- College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu, China
| | - Yunquan Li
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Qingyou Liu
- State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation, Chengdu University of Technology, Chengdu, China
| | - Yonghua Chen
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
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39
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Li Y, Ren T, Chen Y, Zhou J, Hu Y, Wang Z, Sun W, Xiong C. Untethered Multimode Fluidic Actuation: A New Approach to Soft and Compliant Robotics. Soft Robot 2020; 8:71-84. [PMID: 32320346 DOI: 10.1089/soro.2019.0131] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Fluid actuated soft robots, or fluidic elastomer actuators, have shown great potential in robotic applications where large compliance and safe interaction are dominant concerns. They have been widely studied in wearable robotics, prosthetics, and rehabilitations in recent years. However, such soft robots and actuators are tethered to a bulky pump and controlled by various valves, limiting their applications to a small confined space. In this study, we report a new and effective approach to fluidic power actuation that is untethered, easy to design, fabricate, control, and allows various modes of actuation. In the proposed approach, a sealed elastic tube filled with fluid (gas or liquid) is segmented by adaptors. When twisting a segment, two major effects could be observed: (1) the twisted segment exhibits a contraction force and (2) other segments inflate or deform according to their constraint patterns. Utilizing such effects, various actuation modes could be realized. In this research, four modes of actuation are illustrated: (1) soft actuator and pump actuation, (2) serial actuation, (3) parallel actuation, and (4) agonist and antagonist actuation. Theoretic analysis and experimental studies for the basic actuation principle have been conducted. A case study on an anthropomorphic forearm based on the proposed twisting tube actuation has been developed to showcase the effectiveness of the actuation modes. The studies suggest that the proposed approach has a great potential in both soft and compliant robotics.
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Affiliation(s)
- Yunquan Li
- Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, China
| | - Tao Ren
- The College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu, China
| | - Yonghua Chen
- Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, China
| | - Jianshu Zhou
- Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, China
| | - Yong Hu
- Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, China
| | - Zheng Wang
- Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, China
| | - Wei Sun
- Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, Pennsylvania, USA
| | - Caihua Xiong
- School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
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40
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A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori. ACTUATORS 2020. [DOI: 10.3390/act9020026] [Citation(s) in RCA: 18] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Origami structures are highly demanded for engineering applications. Using origami folding to design and actuate mechanisms and machines offers attractive opportunities. In this paper, we design a crawling robot driven by pneumatic foldable actuators (PFAs) based on Miura-ori, according to the parallel foldable structure and different control patterns, which can perform different movements. The PFA inspired from Miura-ori is composed of a folding part, transition part, and sealing part, made by flexible materials and a paper skeleton. This actuator can obtain a large deformation by folding under negative pressure due to its own characteristics, and the relationship between deformation and pressure is analyzed. According to the different folding and unfolding times of left and right actuators, the crawling robot can perform both linear and turning movements. The speed of the robot is about 5 mm/s and it can turn at a speed of about 15°/s. The crawling robot uses the ability of the foldable structure to cope with the challenges of different environments and tasks.
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41
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Xie Z, Domel AG, An N, Green C, Gong Z, Wang T, Knubben EM, Weaver JC, Bertoldi K, Wen L. Octopus Arm-Inspired Tapered Soft Actuators with Suckers for Improved Grasping. Soft Robot 2020; 7:639-648. [PMID: 32096693 DOI: 10.1089/soro.2019.0082] [Citation(s) in RCA: 72] [Impact Index Per Article: 18.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/15/2022] Open
Abstract
Octopuses can employ their tapered arms to catch prey of all shapes and sizes due to their dexterity, flexibility, and gripping power. Intrigued by variability in arm taper angle between different octopus species, we explored the utility of designing soft actuators exhibiting a distinctive conical geometry, compared with more traditional cylindrical forms. We find that these octopus-inspired conical-shaped actuators exhibit a wide range of bending curvatures that can be tuned by simply altering their taper angle and they also demonstrate greater flexibility compared with their cylindrical counterparts. The taper angle and bending curvature are inversely related, whereas taper angle and applied bending force are directly related. To further expand the functionality of our soft actuators, we incorporated vacuum-actuated suckers into the actuators for the production of a fully integrated octopus arm-inspired gripper. Notably, our results reveal that because of their enhanced flexibility, these tapered actuators with suckers have better gripping power than their cylindrical-shaped counterparts and require significantly larger forces to be detached from both flat and curved surfaces. Finally, we show that by choosing appropriate taper angles, our tapered actuators with suckers can grip, move, and place a remarkably wide range of objects with flat, nonplanar, smooth, or rough surfaces, as well as retrieve objects through narrow openings. The results from this study not only provide new design insights into the creation of next-generation soft actuators for gripping a wide range of morphologically diverse objects but also contribute to our understanding of the functional significance of arm taper angle variability across octopus species.
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Affiliation(s)
- Zhexin Xie
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
- Shenyuan Honors College, Beihang University, Beijing, China
| | - August G Domel
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
| | - Ning An
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
| | - Connor Green
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
| | - Zheyuan Gong
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Tianmiao Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Elias M Knubben
- Leitung Corporate Bionic Department, Festo SE & Co. KG, Germany
| | - James C Weaver
- Wyss Institute of Biologically Inspired Engineering, Harvard University, Cambridge, Massachusetts, USA
| | - Katia Bertoldi
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
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42
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Plum F, Labisch S, Dirks JH. SAUV-A Bio-Inspired Soft-Robotic Autonomous Underwater Vehicle. Front Neurorobot 2020; 14:8. [PMID: 32153381 PMCID: PMC7047442 DOI: 10.3389/fnbot.2020.00008] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/14/2019] [Accepted: 01/29/2020] [Indexed: 11/25/2022] Open
Abstract
Autonomous and remotely operated underwater vehicles allow us to reach places which have previously been inaccessible and perform complex repair, exploration and analysis tasks. As their navigation is not infallible, they may cause severe damage to themselves and their often fragile surroundings, such as flooded caves, coral reefs, or even accompanying divers in case of a collision. In this study, we used a shallow neural network, consisting of interlinking PID controllers, and trained by a genetic algorithm, to control a biologically inspired AUV with a soft and compliant exoskeleton. Such a compliant structure is a versatile and passive solution which reduces the accelerations induced by collisions to 56% of the original mean value acting upon the system, thus, notably reducing the stress on its components and resulting reaction forces on its surroundings. The segmented structure of this spherical exoskeleton protects the encased system without limiting the use of cameras, sensors or manipulators.
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Affiliation(s)
- Fabian Plum
- Department of Biomimetics, Hochschule Bremen - City University of Applied Sciences, Bremen, Germany
- Department of Bioengineering, Imperial College London, London, United Kingdom
| | - Susanna Labisch
- Department of Biomimetics, Hochschule Bremen - City University of Applied Sciences, Bremen, Germany
- Biomimetic-Innovation-Centre, Hochschule Bremen - City University of Applied Sciences, Bremen, Germany
| | - Jan-Henning Dirks
- Department of Biomimetics, Hochschule Bremen - City University of Applied Sciences, Bremen, Germany
- Biomimetic-Innovation-Centre, Hochschule Bremen - City University of Applied Sciences, Bremen, Germany
- Max-Planck-Institute for Intelligent Systems, Stuttgart, Germany
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43
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Nalbach S, Banda RM, Croce S, Rizzello G, Naso D, Seelecke S. Modeling and Design Optimization of a Rotational Soft Robotic System Driven by Double Cone Dielectric Elastomer Actuators. Front Robot AI 2020; 6:150. [PMID: 33501165 PMCID: PMC7806115 DOI: 10.3389/frobt.2019.00150] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/30/2019] [Accepted: 12/16/2019] [Indexed: 11/13/2022] Open
Abstract
Dielectric elastomers (DEs) consist of highly compliant electrostatic transducers which can be operated as actuators, by converting an applied high voltage into motion, and as sensors, since capacitive changes can be related to displacement information. Due to large achievable deformation (on the order of 100%) and high flexibility, DEs appear as highly suitable for the design of soft robotic systems. An important requirement for robotic systems is the possibility of generating a multi degree-of-freedom (MDOF) actuation. By means of DE technology, a controllable motion along several directions can be made possible by combining different membrane actuators in protagonist-antagonist configurations, as well as by designing electrode patterns which allow independent activation of different sections of a single membrane. However, despite several concepts of DE soft robots have been presented in the recent literature, up to date there is still a lack of systematic studies targeted at optimizing the design of the system. To properly understand how different parameters influence the complex motion of DE soft robots, this paper presents an experimental study on how geometry scaling affects the performance of a specific MDOF actuator configuration. The system under investigation consists of two cone DE membranes rigidly connected along the outer diameter, and pre-compressed out-of-plane against each other via a rigid spacer. The electrodes of both membranes are partitioned in four sections that can be activated separately, thus allowing the desired MDOF actuation feature. Different prototypes are assembled and tested to study the influence of the inner radius as well as the length of the rigid spacer on the achievable motion range. For the first experimental study presented here, we focus our analysis on a single actuation variable, i.e., the rotation of the rigid spacer about a fixed axis. A physics-based model is then developed and validated based on the collected experimental measurements. A model-based investigation is subsequently performed, with the aim of studying the influence of the regarded parameters on the rotation angle. Finally, based on the results of the performed study, a model-based optimization of the prototype geometry is performed.
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Affiliation(s)
- Sophie Nalbach
- Center for Mechatronics and Automation Technologies (ZeMA) gGmbH, Saarbrücken, Germany
- Department of Systems Engineering, Saarland University, Saarbrücken, Germany
- Department of Material Science and Engineering, Saarland University, Saarbrücken, Germany
| | - Rukmini Manoz Banda
- Department of Systems Engineering, Saarland University, Saarbrücken, Germany
- Department of Material Science and Engineering, Saarland University, Saarbrücken, Germany
| | - Sipontina Croce
- Department of Electrical and Information Engineering, Polytechnic University of Bari, Bari, Italy
| | - Gianluca Rizzello
- Department of Systems Engineering, Saarland University, Saarbrücken, Germany
- Department of Material Science and Engineering, Saarland University, Saarbrücken, Germany
| | - David Naso
- Department of Electrical and Information Engineering, Polytechnic University of Bari, Bari, Italy
| | - Stefan Seelecke
- Center for Mechatronics and Automation Technologies (ZeMA) gGmbH, Saarbrücken, Germany
- Department of Systems Engineering, Saarland University, Saarbrücken, Germany
- Department of Material Science and Engineering, Saarland University, Saarbrücken, Germany
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44
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TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models. Int J Rob Res 2020. [DOI: 10.1177/0278364919881685] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023]
Abstract
A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed.
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45
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Bauer D, Bauer C, King JP, Moro D, Chang KH, Coros S, Pollard N. Design and Control of Foam Hands for Dexterous Manipulation. INT J HUM ROBOT 2020. [DOI: 10.1142/s0219843619500336] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.
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Affiliation(s)
- Dominik Bauer
- Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsylvania 15213, USA
| | - Cornelia Bauer
- Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsylvania 15213, USA
| | - Jonathan P. King
- Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsylvania 15213, USA
| | - Daniele Moro
- Department of Computer Science, Boise State University, 1910 University Dr., Boise, Idaho 83725, USA
| | - Kai-Hung Chang
- Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsylvania 15213, USA
| | - Stelian Coros
- Department of Computer Science, ETH Zürich, Rämistrasse 101, 8092 Zürich, Switzerland
| | - Nancy Pollard
- Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsylvania 15213, USA
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46
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Kehl CE, Wu J, Lu S, Neustadter DM, Drushel RF, Smoldt RK, Chiel HJ. Soft-surface grasping: radular opening in Aplysia californica. J Exp Biol 2019; 222:jeb191254. [PMID: 31350299 PMCID: PMC6739808 DOI: 10.1242/jeb.191254] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/23/2018] [Accepted: 07/01/2019] [Indexed: 12/22/2022]
Abstract
Grasping soft, irregular material is challenging both for animals and robots. The feeding systems of many animals have adapted to this challenge. In particular, the feeding system of the marine mollusk Aplysia californica, a generalist herbivore, allows it to grasp and ingest seaweeds of varying shape, texture and toughness. On the surface of the grasper of A. californica is a structure known as the radula, a thin flexible cartilaginous sheet with fine teeth. Previous in vitro studies suggested that intrinsic muscles, I7, are responsible for opening the radula. Lesioning I7 in vivo does not prevent animals from grasping and ingesting food. New in vitro studies demonstrate that a set of fine muscle fibers on the ventral surface of the radula - the sub-radular fibers (SRFs) - mediate opening movements even if the I7 muscles are absent. Both in vitro and in vivo lesions demonstrate that removing the SRFs leads to profound deficits in radular opening, and significantly reduces feeding efficiency. A theoretical biomechanical analysis of the actions of the SRFs suggests that they induce the radular surface to open around a central crease in the radular surface and to arch the radular surface, allowing it to softly conform to irregular material. A three-dimensional model of the radular surface, based on in vivo observations and magnetic resonance imaging of intact animals, provides support for the biomechanical analysis. These results suggest how a soft grasper can work during feeding, and suggest novel designs for artificial soft graspers.
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Affiliation(s)
- Catherine E Kehl
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA
| | - Joey Wu
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA
| | - Sisi Lu
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA
| | | | - Richard F Drushel
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA
| | - Rebekah K Smoldt
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA
| | - Hillel J Chiel
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA
- Department of Neurosciences, Case Western Reserve University, Cleveland, OH 44106, USA
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
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47
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Justus KB, Hellebrekers T, Lewis DD, Wood A, Ingham C, Majidi C, LeDuc PR, Tan C. A biosensing soft robot: Autonomous parsing of chemical signals through integrated organic and inorganic interfaces. Sci Robot 2019; 4:4/31/eaax0765. [PMID: 33137770 DOI: 10.1126/scirobotics.aax0765] [Citation(s) in RCA: 50] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2019] [Accepted: 05/23/2019] [Indexed: 12/16/2022]
Abstract
The integration of synthetic biology and soft robotics can fundamentally advance sensory, diagnostic, and therapeutic functionality of bioinspired machines. However, such integration is currently impeded by the lack of soft-matter architectures that interface synthetic cells with electronics and actuators for controlled stimulation and response during robotic operation. Here, we synthesized a soft gripper that uses engineered bacteria for detecting chemicals in the environment, a flexible light-emitting diode (LED) circuit for converting biological to electronic signals, and soft pneu-net actuators for converting the electronic signals to movement of the gripper. We show that the hybrid bio-LED-actuator module enabled the gripper to detect chemical signals by applying pressure and releasing the contents of a chemical-infused hydrogel. The biohybrid gripper used chemical sensing and feedback to make actionable decisions during a pick-and-place operation. This work opens previously unidentified avenues in soft materials, synthetic biology, and integrated interfacial robotic systems.
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Affiliation(s)
- Kyle B Justus
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Tess Hellebrekers
- Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Daniel D Lewis
- Department of Biomedical Engineering, University of California, Davis, Davis, CA 95616, USA
| | - Adam Wood
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Christian Ingham
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Carmel Majidi
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA. .,Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA.,Departments of Biological Sciences, Computational Biology, and Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Philip R LeDuc
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA. .,Departments of Biological Sciences, Computational Biology, and Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Cheemeng Tan
- Department of Biomedical Engineering, University of California, Davis, Davis, CA 95616, USA.
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48
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Del Dottore E, Mondini A, Sadeghi A, Mazzolai B. Characterization of the Growing From the Tip as Robot Locomotion Strategy. Front Robot AI 2019; 6:45. [PMID: 33501061 PMCID: PMC7805678 DOI: 10.3389/frobt.2019.00045] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/08/2018] [Accepted: 05/31/2019] [Indexed: 11/24/2022] Open
Abstract
Growing robots are a new class of robots able to move in the environment exploiting a growing from the tip process (movement by growing). Thanks to this property, these robots are able to navigate 3D environments while negotiating confined spaces and large voids by adapting their body. During the exploration of the environment, the tip of the robot is able to move in any direction and can be kinematically considered as a non-holonomic mobile system. In this paper, we show the kinematics of robot growing at its tip level. We also present the affordable workspace analyzed by an evaluation of feasible trajectories toward target poses. The geometrical key parameters imposing constraints on growing robots' workspace are discussed, in view of facing different possible application scenarios. The proposed kinematics was applied to a plant-inspired growing robot moving in a 3D environment in simulation, obtaining ~2 cm error after 1 m of displacement. With appropriate parametrization, the proposed kinematic model is able to describe the motion from the tip in robots able to grow.
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Affiliation(s)
| | | | | | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
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49
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Sholl N, Moss A, Kier WM, Mohseni K. A Soft End Effector Inspired by Cephalopod Suckers and Augmented by a Dielectric Elastomer Actuator. Soft Robot 2019; 6:356-367. [DOI: 10.1089/soro.2018.0059] [Citation(s) in RCA: 16] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Affiliation(s)
- Nick Sholl
- Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, Florida
- Institute for Networked Autonomous Systems, University of Florida, Gainesville, Florida
| | - Austin Moss
- Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, Florida
- Institute for Networked Autonomous Systems, University of Florida, Gainesville, Florida
| | - William M. Kier
- Department of Biology, University of North Carolina, Chapel Hill, North Carolina
| | - Kamran Mohseni
- Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, Florida
- Institute for Networked Autonomous Systems, University of Florida, Gainesville, Florida
- Department of Electrical and Computer Engineering, University of Florida, Gainesville, Florida
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50
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Gong Z, Chen B, Liu J, Fang X, Liu Z, Wang T, Wen L. An Opposite-Bending-and-Extension Soft Robotic Manipulator for Delicate Grasping in Shallow Water. Front Robot AI 2019; 6:26. [PMID: 33501042 PMCID: PMC7805983 DOI: 10.3389/frobt.2019.00026] [Citation(s) in RCA: 23] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/01/2018] [Accepted: 03/29/2019] [Indexed: 11/13/2022] Open
Abstract
Collecting seafood animals (such as sea cucumbers, sea echini, scallops, etc.) cultivated in shallow water (water depth: ~30 m) is a profitable and an emerging field that requires robotics for replacing human divers. Soft robotics have several promising features (e.g., safe contact with the objects, lightweight, etc.) for performing such a task. In this paper, we implement a soft manipulator with an opposite-bending-and-extension structure. A simple and rapid inverse kinematics method is proposed to control the spatial location and trajectory of the underwater soft manipulator's end effector. We introduce the actuation hardware of the prototype, and then characterize the trajectory and workspace. We find that the prototype can well track fundamental trajectories such as a line and an arc. Finally, we construct a small underwater robot and demonstrate that the underwater soft manipulator successfully collects multiple irregular shaped seafood animals of different sizes and stiffness at the bottom of the natural oceanic environment (water depth: ~10 m).
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Affiliation(s)
- Zheyuan Gong
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Bohan Chen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Jiaqi Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Xi Fang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Zemin Liu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Tianmiao Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China.,Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China
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