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Kremer P, Rahimi Nohooji H, Voos H. Constrained trajectory optimization and force control for UAVs with universal jamming grippers. Sci Rep 2024; 14:11968. [PMID: 38796556 DOI: 10.1038/s41598-024-62416-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/17/2023] [Accepted: 05/16/2024] [Indexed: 05/28/2024] Open
Abstract
This study presents a novel framework that integrates the universal jamming gripper (UG) with unmanned aerial vehicles (UAVs) to enable automated grasping with no human operator in the loop. Grounded in the principles of granular jamming, the UG exhibits remarkable adaptability and proficiency, navigating the complexities of soft aerial grasping with enhanced robustness and versatility. Central to this integration is a uniquely formulated constrained trajectory optimization using model predictive control, coupled with a robust force control strategy, increasing the level of automation and operational reliability in aerial grasping. This control structure, while simple, is a powerful tool for various applications, ranging from material handling to disaster response, and marks an advancement toward genuine autonomy in aerial manipulation tasks. The key contribution of this research is the combination of a UG with a suitable control strategy, that can be kept relatively straightforward thanks to the mechanical intelligence built into the UG. The algorithm is validated through numerical simulations and virtual experiments.
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Affiliation(s)
- Paul Kremer
- Automation & Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Esch-sur-Alzette, Luxembourg
| | - Hamed Rahimi Nohooji
- Automation & Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Esch-sur-Alzette, Luxembourg.
| | - Holger Voos
- Automation & Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Esch-sur-Alzette, Luxembourg
- Faculty of Science, Technology and Medicine (FSTM), University of Luxembourg, Esch-sur-Alzette, Luxembourg
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Guo X, Tang W, Qin K, Zhong Y, Xu H, Qu Y, Li Z, Sheng Q, Gao Y, Yang H, Zou J. Powerful UAV manipulation via bioinspired self-adaptive soft self-contained gripper. SCIENCE ADVANCES 2024; 10:eadn6642. [PMID: 38718123 PMCID: PMC11078182 DOI: 10.1126/sciadv.adn6642] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/20/2023] [Accepted: 04/08/2024] [Indexed: 05/12/2024]
Abstract
Existing grippers for unmanned aerial vehicle (UAV) manipulation have persistent challenges, highlighting a need for grippers that are soft, self-adaptive, self-contained, easy to control, and lightweight. Inspired by tendril plants, we propose a class of soft grippers that are voltage driven and based on winding deformation for self-adaptive grasping. We design two types of U-shaped soft eccentric circular tube actuators (UCTAs) and propose using the liquid-gas phase-transition mechanism to actuate UCTAs. Two types of UCTAs are separately cross-arranged to construct two types of soft grippers, forming self-contained systems that can be directly driven by voltage. One gripper inspired by tendril climbers can be used for delicate grasping, and the other gripper inspired by hook climbers can be used for strong grasping. These grippers are ideal for deployment in UAVs because of their self-adaptability, ease of control, and light weight, paving the way for UAVs to achieve powerful manipulation with low positioning accuracy, no complex grasping planning, self-adaptability, and multiple environments.
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Affiliation(s)
- Xinyu Guo
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Wei Tang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
- Institute of Process Equipment, College of Energy Engineering, Zhejiang University, Hangzhou 310027, China
| | - Kecheng Qin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yiding Zhong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huxiu Xu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yang Qu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Zhaoyang Li
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Qincheng Sheng
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yidan Gao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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Liu H, Tian H, Wang D, Yuan T, Zhang J, Liu G, Li X, Chen X, Wang C, Cai S, Shao J. Electrically active smart adhesive for a perching-and-takeoff robot. SCIENCE ADVANCES 2023; 9:eadj3133. [PMID: 37889978 PMCID: PMC10610914 DOI: 10.1126/sciadv.adj3133] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/19/2023] [Accepted: 09/25/2023] [Indexed: 10/29/2023]
Abstract
Perching-and-takeoff robot can effectively economize onboard power and achieve long endurance. However, dynamic perching on moving targets for a perching-and-takeoff robot is still challenging due to less autonomy to dynamically land, tremendous impact during landing, and weak contact adaptability to perching surfaces. Here, a self-sensing, impact-resistant, and contact-adaptable perching-and-takeoff robot based on all-in-one electrically active smart adhesives is proposed to reversibly perch on moving/static dry/wet surfaces and economize onboard energy. Thereinto, attachment structures with discrete pillars have contact adaptability on different dry/wet surfaces, stable adhesion, and anti-rebound; sandwich-like artificial muscles lower weight, enhance damping, simplify control, and achieve fast adhesion switching (on-off ratio approaching ∞ in several seconds); and the flexible pressure (0.204% per kilopascal)-and-deformation (force resolution, <2.5 millinewton) sensor enables the robot's autonomy. Thus, the perching-and-takeoff robot equipped with electrically active smart adhesives exhibits tremendous advantages of soft materials over their rigid counterparts and promising application prospect of dynamic perching on moving targets.
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Affiliation(s)
- Haoran Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
- Frontier Institute of Science and Technology (FIST), Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Hongmiao Tian
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Duorui Wang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Tengfei Yuan
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Jinyu Zhang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Guifang Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Xiangming Li
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
- Frontier Institute of Science and Technology (FIST), Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Xiaoliang Chen
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
- Frontier Institute of Science and Technology (FIST), Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Chunhui Wang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
| | - Shengqiang Cai
- Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA 92093, USA
| | - Jinyou Shao
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
- Frontier Institute of Science and Technology (FIST), Xi’an Jiaotong University, No.28, Xianning West Road, Xi’an 710049, Shaanxi, P.R. China
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