1
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Bai S, Pan Q, Ding R, Jia H, Yang Z, Chirarattananon P. An agile monopedal hopping quadcopter with synergistic hybrid locomotion. Sci Robot 2024; 9:eadi8912. [PMID: 38598611 DOI: 10.1126/scirobotics.adi8912] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2023] [Accepted: 03/14/2024] [Indexed: 04/12/2024]
Abstract
Nature abounds with examples of superior mobility through the fusion of aerial and ground movement. Drawing inspiration from such multimodal locomotion, we introduce a high-performance hybrid hopping and flying robot. The proposed robot seamlessly integrates a nano quadcopter with a passive telescopic leg, overcoming limitations of previous jumping mechanisms that rely on stance phase leg actuation. Based on the identified dynamics, a thrust-based control method and detachable active aerodynamic surfaces were devised for the robot to perform continuous jumps with and without position feedback. This unique design and actuation strategy enable tuning of jump height and reduced stance phase duration, leading to agile hopping locomotion. The robot recorded an average vertical hopping speed of 2.38 meters per second at a jump height of 1.63 meters. By harnessing multimodal locomotion, the robot is capable of intermittent midflight jumps that result in substantial instantaneous accelerations and rapid changes in flight direction, offering enhanced agility and versatility in complex environments. The passive leg design holds potential for direct integration with conventional rotorcraft, unlocking seamless hybrid hopping and flying locomotion.
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Affiliation(s)
- Songnan Bai
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Qiqi Pan
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Runze Ding
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Huaiyuan Jia
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Zhengbao Yang
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Pakpong Chirarattananon
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
- Centre for Nature-inspired Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
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2
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Yun R, Liu Z, Leng J, Huang J, Yan X, Qi M. A Millimeter-Scale Multilocomotion Microrobot Capable of Controlled Crawling and Jumping. Soft Robot 2024; 11:361-370. [PMID: 38190294 DOI: 10.1089/soro.2023.0025] [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: 01/10/2024] Open
Abstract
Insects and animals in nature generally have powerful muscles to guarantee their complex motion, such as crawling, running, and jumping. It is challenging for insect-sized robots to achieve controlled crawling and jumping within the scale of millimeters and milligrams. This article proposes a novelty bionic muscle actuator, where an electrical pulse is applied to generate joule heat to expand the actuator's chamber. Under the restoring force of the spring element, the chamber contracts back to the initial state to finish a complete cycle. The actuator can obtain high-frequency vibration under the high-frequency electrical signal. We propose a microrobot based on the novelty actuator to achieve controlled crawling and jumping over the obstacle of the millimeter-sized robot. The robot is fabricated with two actuators as a crawling module and one actuator as a jumping module, with a mass of 52 mg, length of 9.3 mm, width of 9.1 mm, and height of 4 mm. The microrobot has a maximum crawling turning velocity of 0.73 rad/s, a maximum jump height of 42 mm (10.5 times body height), and a maximum jump velocity of 0.91 m/s. This study extends the potential for applying the novelty bionic-muscle actuator to the microrobot.
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Affiliation(s)
- Ruide Yun
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Zhiwei Liu
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Jiaming Leng
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Jianmei Huang
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Xiaojun Yan
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Mingjing Qi
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
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3
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Zhang Y, Wang T, He W, Zhu S. Human-Powered Master Controllers for Reconfigurable Fluidic Soft Robots. Soft Robot 2023; 10:1126-1136. [PMID: 37196160 DOI: 10.1089/soro.2022.0077] [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: 05/19/2023] Open
Abstract
Fluidic soft robots have the advantages of inherent compliance and adaptability, but they are significantly restricted by complex control systems and bulky power devices, including fluidic valves, fluidic pumps, electrical motors, as well as batteries, which make it challenging to operate in narrow space, energy shortage, or electromagnetic sensitive situations. To overcome the shortcomings, we develop portable human-powered master controllers to provide an alternative solution for the master-slave control of the fluidic soft robots. Each controller can supply multiple fluidic pressures to the multiple chambers of the soft robots simultaneously. We use modular fluidic soft actuators to reconfigure soft robots with various functions as control objects. Experimental results show that flexible manipulation and bionic locomotion can be simply realized using the human-powered master controllers. The developed controllers which eliminate energy storage and electronic components can provide a promising candidate of soft robot control in surgical, industrial, and entertainment applications.
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Affiliation(s)
- Yunce Zhang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
| | - Tao Wang
- Ocean College, Zhejiang University, Zhoushan, China
- Robotics Institute of Zhejiang University, Ningbo, China
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
- Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan, China
| | - Weidong He
- Ocean College, Zhejiang University, Zhoushan, China
| | - Shiqiang Zhu
- Ocean College, Zhejiang University, Zhoushan, China
- Zhejiang Lab, Hangzhou, China
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4
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Villeda-Hernandez M, Baker BC, Romero C, Rossiter JM, Dicker MPM, Faul CFJ. Chemically Driven Oscillating Soft Pneumatic Actuation. Soft Robot 2023; 10:1159-1170. [PMID: 37384917 DOI: 10.1089/soro.2022.0168] [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: 07/01/2023] Open
Abstract
Pneumatic actuators are widely studied in soft robotics as they are facile, low cost, scalable, and robust and exhibit compliance similar to many systems found in nature. The challenge is to harness high energy density chemical and biochemical reactions that can generate sufficient pneumatic pressure to actuate soft systems in a controlled and ecologically compatible manner. This investigation evaluates the potential of chemical reactions as both positive and negative pressure sources for use in soft robotic pneumatic actuators. Considering the pneumatic actuation demands, the chemical mechanisms of the pressure sources, and the safety of the system, several gas evolution/consumption reactions are evaluated and compared. Furthermore, the novel coupling of both gas evolution and gas consumption reactions is discussed and evaluated for the design of oscillating systems, driven by the complementary evolution and consumption of carbon dioxide. Control over the speed of gas generation and consumption is achieved by adjusting the initial ratios of feed materials. Coupling the appropriate reactions with pneumatic soft-matter actuators has delivered autonomous cyclic actuation. The reversibility of these systems is demonstrated in a range of displacement experiments, and practical application is shown through a soft gripper that can move, pick up, and let go of objects. Our approach presents a significant step toward more autonomous, versatile soft robots driven by chemo-pneumatic actuators.
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Affiliation(s)
- Marcos Villeda-Hernandez
- School of Chemistry, University of Bristol, Bristol, United Kingdom
- School of Civil, Aerospace and Mechanical Engineering, University of Bristol, Bristol, United Kingdom
- Bristol Centre of Functional Nanomaterials, University of Bristol, Bristol, United Kingdom
| | - Benjamin C Baker
- School of Chemistry, University of Bristol, Bristol, United Kingdom
| | - Christian Romero
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom
| | - Jonathan M Rossiter
- Department of Engineering Mathematics, University of Bristol, Bristol, United Kingdom
- Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom
| | - Michael P M Dicker
- School of Civil, Aerospace and Mechanical Engineering, University of Bristol, Bristol, United Kingdom
| | - Charl F J Faul
- School of Chemistry, University of Bristol, Bristol, United Kingdom
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5
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Pan Y, Fan J, Liu G, Xu W, Zhao J. Design and research of soft-body cavity-type detonation drivers. iScience 2023; 26:106445. [PMID: 37020960 PMCID: PMC10068569 DOI: 10.1016/j.isci.2023.106445] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/02/2022] [Revised: 02/28/2023] [Accepted: 03/14/2023] [Indexed: 04/07/2023] Open
Abstract
According to the high-energy-density movement characteristics of animals during jumping, soft-body cavity-type detonation driver that combines the explosive chemical reaction mechanism of hydrogen and oxygen is designed, in order to control the robot in jump to achieve output optimization. Then, combined with the theoretical values of the detonation dynamic equation and experimental data for the performance parameters, the influences of the mixing ratio of hydrogen (H2) and oxygen (O2), the volume of mixed hydrogen and oxygen in the cavity, and the shape, wall thickness, and area ratio value of the soft-body cavity on the output performance of the detonation driver are analyzed. When gas volume is 20:10 mL, the jump height reaches 2.5 m. In addition, the upper and lower area ratio of cavity is optimized to 2:1, improving the output performance by 21.6% on average. Therefore, the above research results provide reference for the driver structure design of jumping robot.
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Affiliation(s)
- Yitao Pan
- State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China
| | - Jizhuang Fan
- State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China
- Corresponding author
| | - Gangfeng Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China
- Corresponding author
| | - Weibin Xu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China
| | - Jie Zhao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China
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6
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Wang S, Fan J, Liu G. Research status and development trend of frog-inspired robots. ROBOTICA 2023. [DOI: 10.1017/s0263574723000292] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/09/2023]
Abstract
Abstract
The frog-inspired robots with amphibious locomotion ability have greatest application prospects and practical value in the fields of resource exploration and environmental reconnaissance. Although frog-inspired robots have been of interest over many years, research on frog-inspired amphibious robots is still in its infancy. Since the locomotion mechanism is the basis for the research of frog-inspired amphibious robots, the research methods of the single motion mechanism of frogs are firstly inductive analyzed, and a reference scheme is proposed to inspire the research on the amphibious motion mechanism. Then, we collect and introduce a systematic discussion of the research status of frog-inspired robots according to the locomotion mode. The characteristics of the robots are analyzed from the aspects of design concept, structural characteristics, driving method, and motion performance. Finally, the technical challenges faced by the research on the frog-inspired robots are analyzed, and the development trend is predicted. The authors hope that this study can provide an informative reference for future research in the direction of frog-inspired amphibious robot.
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7
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Hu J, Nie Z, Wang M, Liu Z, Huang S, Yang H. Springtail-inspired Light-driven Soft Jumping Robots Based on Liquid Crystal Elastomers with Monolithic Three-leaf Panel Fold Structure. Angew Chem Int Ed Engl 2023; 62:e202218227. [PMID: 36624053 DOI: 10.1002/anie.202218227] [Citation(s) in RCA: 18] [Impact Index Per Article: 18.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/10/2022] [Revised: 01/05/2023] [Accepted: 01/09/2023] [Indexed: 01/11/2023]
Abstract
Jump is an important form of motion that enables animals to escape from predators, increase their range of activities, and better adapt to the environment. Inspired by springtails, we describe a light-driven soft jumping robot based on a double-folded liquid crystal elastomer (LCE) ribbon actuator with a monolithic three-leaf panel fold structure. This robot can achieve remarkable jumping height, jumping distance, and maximum take-off velocity, of up to 87 body length (BL), 65 BL, and 930 BL s-1 , respectively, under near-infrared light irradiation. Further, it is possible to control the height, distance, and direction of jump by changing the size and crease angle of the double-folded LCE ribbon actuators. These robots can efficiently jump over obstacles and can jump continuously, even in complex environments. Our simple design strategy improves the performance of jumping actuators and we expect it to have a wide-ranging impact on the strength, continuity, and adaptability of future soft robots.
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Affiliation(s)
- Jun Hu
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Zhenzhou Nie
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Meng Wang
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Zhiyang Liu
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Shuai Huang
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Hong Yang
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
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8
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Zhou H, Cao S, Zhang S, Li F, Ma N. Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model. CYBORG AND BIONIC SYSTEMS 2023; 4:0010. [PMID: 36939437 PMCID: PMC10014331 DOI: 10.34133/cbsystems.0010] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/30/2022] [Accepted: 01/12/2023] [Indexed: 01/20/2023] Open
Abstract
Soft robotics have advantages over the traditional rigid ones to achieve the bending motion but face with challenges to realize the rapid and long-distance linear motion due to the lack of a suitable actuation system. In this paper, a new explosion-based soft robot is proposed to generate the axial fast extension by the explosion pressure. To support and predict the performance of this explosion-based soft robot, a novel dynamic model is developed by considering the change of working fluid (molecular numbers) and some unavoidable and influential factors in the combustion process. Then, based on the physical prototype, a set of experiments is conducted to test the performance of the explosion-based soft robot in performing the axial extensions, as well as to validate the model proposed in this article. It is found that the novel explosion-based soft robot can achieve rapid axial extension by the developed explosion-based actuation system. The explosion-based soft robot can achieve 41-mm displacement at a fuel mass of 180 mg. In addition, the proposed dynamic model can be validated with an average error of 1.5%. The proposed approach in this study provides a promising solution for future high-power density explosion-based soft robots.
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Affiliation(s)
- Haiqin Zhou
- Department of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Shunze Cao
- Department of Engineering Mechanics, Tsinghua University, Beijing, China
| | - Shuailong Zhang
- School of Mechatronical Engineering and Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
| | - Fenggang Li
- School of Mechatronical Engineering and Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
| | - Nan Ma
- Department of Engineering of Lancaster University, Lancaster LA1 4YW, UK
- Address correspondence to:
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9
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He Z, Yang Y, Jiao P, Wang H, Lin G, Pähtz T. Copebot: Underwater Soft Robot with Copepod-Like Locomotion. Soft Robot 2022; 10:314-325. [PMID: 36580550 DOI: 10.1089/soro.2021.0158] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/31/2022] Open
Abstract
It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely fast escape responses when a predator is sensed by performing explosive curved jumps. In this study, we present a design and build prototypes of a combustion-driven underwater soft robot, the "copebot," which, similar to copepods, is able to accurately reach nearby predefined locations in space within a single curved jump. Because of an improved thrust force transmission unit, causing a large initial acceleration peak (850 body length·s-2), the copebot is eight times faster than previous combustion-driven underwater soft robots, while able to perform a complete 360° rotation during the jump. Thrusts generated by the copebot are tested to quantitatively determine the actuation performance, and parametric studies are conducted to investigate the sensitivity of the kinematic performance of the copebot to the input parameters. We demonstrate the utility of our design by building a prototype that rapidly jumps out of the water, accurately lands on its feet on a small platform, wirelessly transmits data, and jumps back into the water. Our copebot design opens the way toward high-performance biomimetic robots for multifunctional applications.
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Affiliation(s)
- Zhiguo He
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China.,Engineering Research Center of Oceanic Sensing Technology and Equipment, Zhejiang University, Ministry of Education, Zhoushan, China
| | - Yang Yang
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China
| | - Pengcheng Jiao
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China.,Engineering Research Center of Oceanic Sensing Technology and Equipment, Zhejiang University, Ministry of Education, Zhoushan, China
| | - Haipeng Wang
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China
| | - Guanzheng Lin
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China
| | - Thomas Pähtz
- Institute of Port, Coastal and Offshore Engineering, Department of Ocean Engineering, Ocean College, Zhejiang University, Zhoushan, China
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10
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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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11
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Chen R, Yuan Z, Guo J, Bai L, Zhu X, Liu F, Pu H, Xin L, Peng Y, Luo J, Wen L, Sun Y. Legless soft robots capable of rapid, continuous, and steered jumping. Nat Commun 2021; 12:7028. [PMID: 34876570 PMCID: PMC8651723 DOI: 10.1038/s41467-021-27265-w] [Citation(s) in RCA: 18] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/23/2021] [Accepted: 11/10/2021] [Indexed: 11/29/2022] Open
Abstract
Jumping is an important locomotion function to extend navigation range, overcome obstacles, and adapt to unstructured environments. In that sense, continuous jumping and direction adjustability can be essential properties for terrestrial robots with multimodal locomotion. However, only few soft jumping robots can achieve rapid continuous jumping and controlled turning locomotion for obstacle crossing. Here, we present an electrohydrostatically driven tethered legless soft jumping robot capable of rapid, continuous, and steered jumping based on a soft electrohydrostatic bending actuator. This 1.1 g and 6.5 cm tethered soft jumping robot is able to achieve a jumping height of 7.68 body heights and a continuous forward jumping speed of 6.01 body lengths per second. Combining two actuator units, it can achieve rapid turning with a speed of 138.4° per second. The robots are also demonstrated to be capable of skipping across a multitude of obstacles. This work provides a foundation for the application of electrohydrostatic actuation in soft robots for agile and fast multimodal locomotion. Jumping is an important locomotion function to extend navigation range, overcome obstacles, and adapt to unstructured environments. Here, authors demonstrate legless soft robot capable of rapid, continuous, and steered jumping based on a soft electrohydrostatic bending actuator.
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Affiliation(s)
- Rui Chen
- State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, 400044, China.
| | - Zean Yuan
- State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, 400044, China
| | - Jianglong Guo
- School of Science, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China
| | - Long Bai
- State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, 400044, China
| | - Xinyu Zhu
- State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, 400044, China
| | - Fuqiang Liu
- College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, 400044, China
| | - Huayan Pu
- School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China.
| | - Liming Xin
- School of Computer Engineering and Science, Shanghai University, Shanghai, 200444, China
| | - Yan Peng
- Research Institute of Unmanned Surface Vessel Engineering, Shanghai University, Shanghai, 200444, China
| | - Jun Luo
- State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, 400044, China.,School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada
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12
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Yan Y, Shui L, Liu S, Liu Z, Liu Y. Terrain Adaptability and Optimum Contact Stiffness of Vibro-bot with Arrayed Soft Legs. Soft Robot 2021; 9:981-990. [PMID: 34842452 DOI: 10.1089/soro.2021.0029] [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: 10/19/2022] Open
Abstract
The terrain adaptability of the state-of-the-art robot is far behind natural animals, partly because of limited sensing, intelligence, controlling, and actuating ability. One possible solution is to explore the flexible locomotion structure and locomotion mode with good adaptability and fault tolerance. Based on this idea, we presented a type of vibro-bot with arrayed soft legs (VBASL) with excellent terrain adaptability by utilizing the rapid vibration of the soft belt array. With the resistance to local terrain blocking and combing the vibrational actuation, the VBASL has an advantage of multi-leg collaboration, so that very simple structure can achieve good terrain adaptability, such as steady locomotion on complex terrains like steep slope, ladders, steps, discrete pillars, and soft sands. Besides, the effects of soft leg geometry, stiffness, and ground topography on terrain adaptability and locomotion speed were also studied, indicating the similar contact stiffness to maximize the locomotion speed on different grounds. Then, a theoretical model was developed to describe the experiments well, which can guide the design of optimum contact stiffness of VBASL to achieve fast locomotion speed and good load capacity. By further modifying the robot structure, more practical functions such as turning, climbing, and anti-impacting were easily realized. The resistance to local terrain blocking and optimum contact stiffness are two important factors to improve the performance of VBASL, which may address the terrain adaptability challenge of robots working in practical unstructured environments.
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Affiliation(s)
- Yingbo Yan
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Langquan Shui
- Department of Engineering Mechanics, School of Civil Engineering, Wuhan University, Wuhan, PR China
| | - Siyu Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Zeming Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Yilun Liu
- State Key Laboratory for Strength and Vibration of Mechanical Structure, School of Aerospace Engineering, Xi'an Jiaotong University, Xi'an, PR China
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13
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Qiao C, Liu L, Pasini D. Bi-Shell Valve for Fast Actuation of Soft Pneumatic Actuators via Shell Snapping Interaction. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2021; 8:e2100445. [PMID: 34061464 PMCID: PMC8336518 DOI: 10.1002/advs.202100445] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/02/2021] [Revised: 03/25/2021] [Indexed: 05/28/2023]
Abstract
Rapid motion in soft pneumatic robots is typically achieved through actuators that either use a fast volume input generated from pressure control, employ an integrated power source, such as chemical explosions, or are designed to embed elastic instabilities in the body of the robot. This paper presents a bi-shell valve that can fast actuate soft actuators neither relying on the fast volume input provided by pressure control strategies nor requiring modifications to the architecture of the actuator. The bi-shell valve consists of a spherical cap and an imperfect shell with a geometrically tuned defect that enables shell snapping interaction to convert a slowly dispensed volume input into a fast volume output. This function is beyond those of current valves capable to perform fluidic flow regulation. Validated through experiments, the analysis unveils that the spherical cap sets the threshold of the snapping pressure along with the upper bounds of volume and energy output, while the imperfect shell interacts with the cap to store and deliver the desired output for rapid actuation. Geometry variations of the bi-shell valve are provided to show that the concept is versatile. A final demonstration shows that the soft valve can quickly actuate a striker.
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Affiliation(s)
- Chuan Qiao
- Department of Mechanical EngineeringMcGill UniversityMontrealQuebecH3A 0C3Canada
| | - Lu Liu
- Department of Mechanical EngineeringMcGill UniversityMontrealQuebecH3A 0C3Canada
| | - Damiano Pasini
- Department of Mechanical EngineeringMcGill UniversityMontrealQuebecH3A 0C3Canada
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14
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Usevitch NS, Hammond ZM, Schwager M, Okamura AM, Hawkes EW, Follmer S. An untethered isoperimetric soft robot. Sci Robot 2021; 5:5/40/eaaz0492. [PMID: 33022597 DOI: 10.1126/scirobotics.aaz0492] [Citation(s) in RCA: 22] [Impact Index Per Article: 7.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/09/2019] [Revised: 12/05/2019] [Accepted: 02/18/2020] [Indexed: 11/02/2022]
Abstract
For robots to be useful for real-world applications, they must be safe around humans, be adaptable to their environment, and operate in an untethered manner. Soft robots could potentially meet these requirements; however, existing soft robotic architectures are limited by their ability to scale to human sizes and operate at these scales without a tether to transmit power or pressurized air from an external source. Here, we report an untethered, inflated robotic truss, composed of thin-walled inflatable tubes, capable of shape change by continuously relocating its joints, while its total edge length remains constant. Specifically, a set of identical roller modules each pinch the tube to create an effective joint that separates two edges, and modules can be connected to form complex structures. Driving a roller module along a tube changes the overall shape, lengthening one edge and shortening another, while the total edge length and hence fluid volume remain constant. This isoperimetric behavior allows the robot to operate without compressing air or requiring a tether. Our concept brings together advantages from three distinct types of robots-soft, collective, and truss-based-while overcoming certain limitations of each. Our robots are robust and safe, like soft robots, but not limited by a tether; are modular, like collective robots, but not limited by complex subunits; and are shape-changing, like truss robots, but not limited by rigid linear actuators. We demonstrate two-dimensional (2D) robots capable of shape change and a human-scale 3D robot capable of punctuated rolling locomotion and manipulation, all constructed with the same modular rollers and operating without a tether.
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Affiliation(s)
- Nathan S Usevitch
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA.
| | - Zachary M Hammond
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA.
| | - Mac Schwager
- Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA
| | - Allison M Okamura
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - Elliot W Hawkes
- Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA
| | - Sean Follmer
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
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15
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Li T, Jiang W, Han J, Niu D, Liu H, Lu B. Enhancements of Loading Capacity and Moving Ability by Microstructures for Wireless Soft Robot Boats. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2020; 36:14728-14736. [PMID: 33225710 DOI: 10.1021/acs.langmuir.0c02685] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Because of its promising applications in various fields such as in vivo drug treatment, in-pipe inspection, and so forth, there is an increasing interest on wireless soft robot boats taking advantages of their shape adaptability. The loading capacity and mobility, however, are always fundamental challenges to restrict their applications. In this study, a graphene-based soft robot boat, which could be programmable-driven by a remote near-infrared light, is proposed. Different microstructures underneath the boat are carefully designed and employed to improve both the loading capacity and the moving ability. It reveals that, compared to that without microstructures, the soft robot boat with square pillar arrays (120-160 μm of period, duty cycle, and aspect ratio at active Wenzel/Cassie transition point) could enhance the loading capacity by 12.75% and the moving velocity by 16.70%. For the robot boat with grating structures, a strong driving anisotropy is revealed, with an enhancement of 2.24% for the loading capacity and 34.65% for the driving response along the grating lines. A boat prototype with a self-weight of 6.05 g is finally developed and can achieve continuous navigation in a closed narrow space for in situ monitoring, which may find applications in the inspection of other narrow terrains (e.g., blood vessels).
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Affiliation(s)
- Tian Li
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China
| | - Weitao Jiang
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China
| | - Jie Han
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China
| | - Dong Niu
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China
| | - Hongzhong Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China
| | - Bingheng Lu
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China
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16
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Ribak G. Insect-inspired jumping robots: challenges and solutions to jump stability. CURRENT OPINION IN INSECT SCIENCE 2020; 42:32-38. [PMID: 32920181 DOI: 10.1016/j.cois.2020.09.001] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/26/2020] [Revised: 08/31/2020] [Accepted: 09/02/2020] [Indexed: 06/11/2023]
Abstract
Some insects can jump to heights that are several times their body length. At smaller scales, jumping mechanisms are constrained by issues relating to scaling of power generation, which insects have resolved over the course of their evolution. These solutions have inspired the design of small jumping robots. However, the insect' solution for the power constraint came at a price of instability and limited control over jump performance and these drawbacks were inherited by the jumping robots inspired by them. This review focuses on the jumping mechanisms of insects and robots, the challenges it imposes on control and stability and possible solutions. Although jump stability might not be a critical problem for insects, it poses substantial challenges for engineers of small jumping robots, who hope to develop autonomous devices with improved mobility over rough terrain.
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Affiliation(s)
- Gal Ribak
- School of Zoology, Faculty of Life Sciences, Tel Aviv University, Tel Aviv, 6997801, Israel; Steinhardt Museum of Natural History, Israel National Centre for Biodiversity Studies, Tel Aviv, 6997801, Israel.
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17
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Jumping Locomotion Strategies: From Animals to Bioinspired Robots. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10238607] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/10/2023]
Abstract
Jumping is a locomotion strategy widely evolved in both invertebrates and vertebrates. In addition to terrestrial animals, several aquatic animals are also able to jump in their specific environments. In this paper, the state of the art of jumping robots has been systematically analyzed, based on their biological model, including invertebrates (e.g., jumping spiders, locusts, fleas, crickets, cockroaches, froghoppers and leafhoppers), vertebrates (e.g., frogs, galagoes, kangaroos, humans, dogs), as well as aquatic animals (e.g., both invertebrates and vertebrates, such as crabs, water-striders, and dolphins). The strategies adopted by animals and robots to control the jump (e.g., take-off angle, take-off direction, take-off velocity and take-off stability), aerial righting, land buffering, and resetting are concluded and compared. Based on this, the developmental trends of bioinspired jumping robots are predicted.
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18
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Partridge AJ, Conn AT. Passive, Reflex Response Units for Reactive Soft Robotic Systems. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2985618] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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19
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Zhao J, Zhang J, McCoul D, Hao Z, Wang S, Wang X, Huang B, Sun L. Soft and Fast Hopping–Running Robot with Speed of Six Times Its Body Length Per Second. Soft Robot 2019; 6:713-721. [DOI: 10.1089/soro.2018.0098] [Citation(s) in RCA: 23] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Affiliation(s)
- Jianwen Zhao
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - Junming Zhang
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - David McCoul
- Department of Materials Science and Engineering, UCLA, Los Angeles, California
| | - Zhaogang Hao
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - Shu Wang
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - Xinbo Wang
- Department of Materials Science and Engineering, Harbin Institute of Technology, Weihai, China
| | - Bo Huang
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - Lining Sun
- School of Mechanical and Electric Engineering, Soochow University, Soochow, China
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20
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Zufferey R, Ancel AO, Farinha A, Siddall R, Armanini SF, Nasr M, Brahmal RV, Kennedy G, Kovac M. Consecutive aquatic jump-gliding with water-reactive fuel. Sci Robot 2019; 4:4/34/eaax7330. [PMID: 33137775 DOI: 10.1126/scirobotics.aax7330] [Citation(s) in RCA: 29] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/03/2019] [Accepted: 08/07/2019] [Indexed: 11/02/2022]
Abstract
Robotic vehicles that are capable of autonomously transitioning between various terrains and fluids have received notable attention in the past decade due to their potential to navigate previously unexplored and/or unpredictable environments. Specifically, aerial-aquatic mobility will enable robots to operate in cluttered aquatic environments and carry out a variety of sensing tasks. One of the principal challenges in the development of such vehicles is that the transition from water to flight is a power-intensive process. At a small scale, this is made more difficult by the limitations of electromechanical actuation and the unfavorable scaling of the physics involved. This paper investigates the use of solid reactants as a combustion gas source for consecutive aquatic jump-gliding sequences. We present an untethered robot that is capable of multiple launches from the water surface and of transitioning from jetting to a glide. The power required for aquatic jump-gliding is obtained by reacting calcium carbide powder with the available environmental water to produce combustible acetylene gas, allowing the robot to rapidly reach flight speed from water. The 160-gram robot could achieve a flight distance of 26 meters using 0.2 gram of calcium carbide. Here, the combustion process, jetting phase, and glide were modeled numerically and compared with experimental results. Combustion pressure and inertial measurements were collected on board during flight, and the vehicle trajectory and speed were analyzed using external tracking data. The proposed propulsion approach offers a promising solution for future high-power density aerial-aquatic propulsion in robotics.
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Affiliation(s)
- R Zufferey
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - A Ortega Ancel
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - A Farinha
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - R Siddall
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - S F Armanini
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - M Nasr
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - R V Brahmal
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - G Kennedy
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - M Kovac
- Aerial Robotics Lab, Imperial College of London, London, UK. .,Materials and Technology Centre of Robotics, Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
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21
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Abstract
In this work, we design a type of soft robots for flipping locomotion, called the FifoBots. Different from most of the current soft robots that perform crawling, rolling, or jumping locomotion, the proposed FifoBots can flip forward and backward like a piece of self-foldable paper. The FifoBots have simple actuation and avoid complicated balance control. This article presents the principle and analysis of the flipping locomotion as well as the prototypes and experiments of the FifoBots. Two schemes of the flipping locomotion are proposed, and each scheme has the linear and quadrilateral morphologies, enabling the straight and biaxial movements, respectively. The movement performance in each stage of the flipping locomotion is analyzed oriented to the parameter design. The prototypes are constructed by using customized bidirectional Curl pneumatic artificial muscles as the flexible hinges and 3D printed parts as the rigid limbs. Feasibility and adaptability of the proposed robots are validated by locomotion experiments. The FifoBots have potential applications in space exploration in complicated environments with slope, gap, obstacle, or rocky terrain.
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Affiliation(s)
- Jiangbei Wang
- Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China
| | - Yanqiong Fei
- Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China
| | - Zhaoyu Liu
- Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China
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22
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On-Board Pneumatic Pressure Generation Methods for Soft Robotics Applications. ACTUATORS 2018. [DOI: 10.3390/act8010002] [Citation(s) in RCA: 17] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/09/2023]
Abstract
The design and construction of a soft robot are challenging tasks on their own. When the robot is supposed to operate without a tether, it becomes even more demanding. While a tethered operation is sufficient for a stationary use, it is impractical for wearable robots or performing tasks that demand a high mobility. Choosing and implementing an on-board pneumatic pressure source are particularly complex tasks. There are several different pressure generation methods to choose from, each with very different properties and ways of implementation. This review paper is written with the intention of informing about all pressure generation methods available in the field of soft robotics and providing an overview of the abilities and properties of each method. Nine different methods are described regarding their working principle, pressure generation behavior, energetic considerations, safety aspects, and suitability for soft robotics applications. All presented methods are evaluated in the most important categories for soft robotics pressure sources and compared to each other qualitatively and quantitatively as far as possible. The aim of the results presented is to simplify the choice of a suitable pressure generation method when designing an on-board pressure source for a soft robot.
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23
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Wang J, Fei Y. Design and Modelling of Flex-Rigid Soft Robot for Flipping Locomotion. J INTELL ROBOT SYST 2018. [DOI: 10.1007/s10846-018-0957-7] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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24
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Zhang H, Kumar AS, Fuh JYH, Wang MY. Design and Development of a Topology-Optimized Three-Dimensional Printed Soft Gripper. Soft Robot 2018; 5:650-661. [PMID: 29985781 DOI: 10.1089/soro.2017.0058] [Citation(s) in RCA: 27] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
In the past decade, a rich repertoire of soft robots, designed from biomimetic and intuitive approaches, has been developed to overcome challenges faced by their rigid-bodied counterparts. However, these design approaches are greatly limited by the designers' experience and inspiration. In this article, the structural design problem is mathematically modeled under the framework of topology optimization, and solved by a new implementation tool that combines Abaqus/CAE and Matlab coding. Herein, a pneumatic soft gripper with two identical fingers was developed as a practical application. To fulfill the grasping task, each gripper finger is optimized to achieve its maximal bending deformation. The optimized gripper fingers are in high consistence with human fingers as indicated by pseudo-joints. Thereafter, the optimized gripper fingers are directly fabricated by three-dimensional printing technique with unprecedented fidelity regardless of high geometric complexity. Experimental results show that the gripper can grasp an elastic balloon, and each gripper finger is able to undergo a [Formula: see text] free travel bending and exert 0.23 N grasping force upon 0.06 MPa actuation pressure. The proposed approach is freely extendable to develop other types of soft robots and this represents an important step toward the goal of designing and fabricating soft robots automatically.
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Affiliation(s)
- Hongying Zhang
- 1 Department of Mechanical Engineering, National University of Singapore , Singapore, Singapore
| | - A Senthil Kumar
- 1 Department of Mechanical Engineering, National University of Singapore , Singapore, Singapore
| | - Jerry Ying Hsi Fuh
- 1 Department of Mechanical Engineering, National University of Singapore , Singapore, Singapore
| | - Michael Yu Wang
- 2 Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong .,3 Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong
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25
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Li Y, Chen Y, Ren T, Li Y, Choi SH. Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots. Soft Robot 2018; 5:567-575. [PMID: 29924683 DOI: 10.1089/soro.2017.0090] [Citation(s) in RCA: 27] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Abstract
The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots.
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Affiliation(s)
- Yunquan Li
- 1 Department of Mechanical Engineering, The University of Hong Kong , Pokfulam Road, Hong Kong
| | - Yonghua Chen
- 1 Department of Mechanical Engineering, The University of Hong Kong , Pokfulam Road, Hong Kong
| | - Tao Ren
- 2 Robotics Research Center, Xihua University , Chengdu, Sichuan, China
| | - Yingtian Li
- 1 Department of Mechanical Engineering, The University of Hong Kong , Pokfulam Road, Hong Kong
| | - Shiu Hong Choi
- 3 Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong , Pokfulam Road, Hong Kong
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26
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Natividad R, Del Rosario M, Chen PCY, Yeow CH. A Reconfigurable Pneumatic Bending Actuator with Replaceable Inflation Modules. Soft Robot 2018; 5:304-317. [PMID: 29883297 DOI: 10.1089/soro.2017.0064] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
A fully reconfigurable, pneumatic bending actuator is fabricated by implementing the concept of modularity to soft robotics. The actuator features independent, removable, fabric inflation modules that are attached to a common flexible but non-inflating plastic spine. The fabric modules are individually fabricated by heat sealing a thermoplastic polyurethane-coated nylon fabric, whereas the spine is manufactured through fused deposition modeling 3D printing; the components can be assembled and dismantled without the aid of any external tools. The replacement of specific modules along the array facilitates the reconfiguration of the actuator's bending trajectory and torque output; likewise, the combination of inflation modules with dissimilar geometries translates to several different trajectories on a single spine and allows the actuator to bend into assorted, unique structures. A detailed description of the actuator's design is thoroughly presented. We explored how reconfiguration of the actuator's modular geometry affected both the steady state and the dynamic characteristics of the actuator. The torque output of the actuator is proportional to the magnitude of the pressure applied. The actuator was excited by sinusoidal and square pressure inputs, and a second-order linear fit was performed. There were no perceived changes in its performance even after 100,000 inflation and deflation cycles.
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Affiliation(s)
- Rainier Natividad
- 1 Department of Biomedical Engineering, National University of Singapore , Singapore, Singapore .,2 Advanced Robotics Centre, National University of Singapore , Singapore, Singapore
| | - Manuel Del Rosario
- 2 Advanced Robotics Centre, National University of Singapore , Singapore, Singapore .,3 Department of Mechanical Engineering, National University of Singapore , Singapore, Singapore
| | - Peter C Y Chen
- 2 Advanced Robotics Centre, National University of Singapore , Singapore, Singapore .,3 Department of Mechanical Engineering, National University of Singapore , Singapore, Singapore
| | - Chen-Hua Yeow
- 1 Department of Biomedical Engineering, National University of Singapore , Singapore, Singapore .,2 Advanced Robotics Centre, National University of Singapore , Singapore, Singapore .,4 Singapore Institute for Neurotechnology, National University of Singapore , Singapore, Singapore
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27
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Zou J, Lin Y, Ji C, Yang H. A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion. Soft Robot 2018; 5:164-174. [DOI: 10.1089/soro.2017.0008] [Citation(s) in RCA: 62] [Impact Index Per Article: 10.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Affiliation(s)
- Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Yangqiao Lin
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Chen Ji
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China
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28
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Lee DY, Kim SR, Kim JS, Park JJ, Cho KJ. Origami Wheel Transformer: A Variable-Diameter Wheel Drive Robot Using an Origami Structure. Soft Robot 2017; 4:163-180. [PMID: 29182094 DOI: 10.1089/soro.2016.0038] [Citation(s) in RCA: 42] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
A wheel drive mechanism is simple, stable, and efficient, but its mobility in unstructured terrain is seriously limited. Using a deformable wheel is one of the ways to increase the mobility of a wheel drive robot. By changing the radius of its wheels, the robot becomes able to pass over not only high steps but also narrow gaps. In this article, we propose a novel design for a variable-diameter wheel using an origami-based soft robotics design approach. By simply folding a patterned sheet into a wheel shape, a variable-diameter wheel was built without requiring lots of mechanical parts and a complex assembly process. The wheel's diameter can change from 30 to 68 mm, and it is light in weight at about 9.7 g. Although composed of soft materials (fabrics and films), the wheel can bear more than 400 times its weight. The robot was able to change the wheel's radius in response to terrain conditions, allowing it to pass over a 50-mm gap when the wheel is shrunk and a 50-mm step when the wheel is enlarged.
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Affiliation(s)
- Dae-Young Lee
- 1 Department of Mechanical and Aerospace Engineering, Seoul National University , Seoul, Korea.,2 Seoul National University Institute of Advanced Machines and Design, Seoul National University , Seoul, Korea
| | - Sa-Reum Kim
- 1 Department of Mechanical and Aerospace Engineering, Seoul National University , Seoul, Korea.,2 Seoul National University Institute of Advanced Machines and Design, Seoul National University , Seoul, Korea
| | - Ji-Suk Kim
- 3 Agency for Defense Development , Daejeon, Korea
| | - Jae-Jun Park
- 1 Department of Mechanical and Aerospace Engineering, Seoul National University , Seoul, Korea
| | - Kyu-Jin Cho
- 1 Department of Mechanical and Aerospace Engineering, Seoul National University , Seoul, Korea.,2 Seoul National University Institute of Advanced Machines and Design, Seoul National University , Seoul, Korea
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29
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Ross D, Nemitz MP, Stokes AA. Controlling and Simulating Soft Robotic Systems: Insights from a Thermodynamic Perspective. Soft Robot 2016. [DOI: 10.1089/soro.2016.0010] [Citation(s) in RCA: 24] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Affiliation(s)
- Dylan Ross
- Stokes Research Group, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
| | - Markus P. Nemitz
- Stokes Research Group, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
| | - Adam A. Stokes
- Stokes Research Group, Institute for Integrated Micro and Nano Systems, School of Engineering, The University of Edinburgh, Edinburgh, United Kingdom
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30
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Trimmer B, Bartlett NW, Tolley MT. New Developments in Soft Robotics: An Interview with Nicholas W. Bartlett and Michael T. Tolley. Soft Robot 2015. [DOI: 10.1089/soro.2015.29003.btr] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Affiliation(s)
- Barry Trimmer
- Tufts University, Medford, Massachusetts; and Editor-in-Chief, Soft Robotics
| | - Nicholas W. Bartlett
- School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts
- Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, Massachusetts
| | - Michael T. Tolley
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California
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31
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Bartlett NW, Tolley MT, Overvelde JTB, Weaver JC, Mosadegh B, Bertoldi K, Whitesides GM, Wood RJ. A 3D-printed, functionally graded soft robot powered by combustion. Science 2015; 349:161-5. [DOI: 10.1126/science.aab0129] [Citation(s) in RCA: 635] [Impact Index Per Article: 70.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
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