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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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Fang Z, Wu Y, Su Y, Yi J, Liu S, Wang Z. Omnidirectional compliance on cross-linked actuator coordination enables simultaneous multi-functions of soft modular robots. Sci Rep 2023; 13:12116. [PMID: 37495618 PMCID: PMC10372032 DOI: 10.1038/s41598-023-39109-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/20/2023] [Accepted: 07/20/2023] [Indexed: 07/28/2023] Open
Abstract
Earthworms have entirely soft bodies mainly composed of circular and longitudinal muscle bundles but can handle the complexity of unstructured environments with exceptional multifunctionality. Soft robots are naturally appropriate for mimicking soft animal structures thanks to their inherent compliance. Here, we explore the new possibility of using this compliance to coordinate the actuation movements of single-type soft actuators for not only high adaptability but the simultaneous multifunctionality of soft robots. A cross-linked actuator coordination mechanism is proposed and explained with a novel conceptual design of a cross-linked network, characterization of modular coordinated kinematics, and a modular control strategy for multiple functions. We model and analyze the motion patterns for these functions, including grabbing, manipulation, and locomotion. This further enables the combination of simultaneous multi-functions with this very simple actuator network structure. In this way, a soft modular robot is developed with demonstrations of a novel continuous-transportation mode, for which multiple objects could be simultaneously transported in unstructured environments with either mobile manipulation or pick-and-place operation. A comprehensive workflow is presented to elaborate the cross-linked actuator coordination concept, analytical modeling, modular control strategy, experimental validation, and multi-functional applications. Our understanding of actuator coordination inspires new soft robotic designs for wider robotic applications.
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Affiliation(s)
- Zhonggui Fang
- Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Yige Wu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Yinyin Su
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
- Department of Mechanical Engineering, The University of Hong Kong, Central and Western District, Hong Kong, China
| | - Juan Yi
- Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China.
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China.
| | - Sicong Liu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Zheng Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China.
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Acharya S, Roberts P, Rane T, Singhal R, Hong P, Ranade V, Majidi C, Webster-Wood V, Reeja-Jayan B. Gecko adhesion based sea star crawler robot. Front Robot AI 2023; 10:1209202. [PMID: 37469630 PMCID: PMC10352780 DOI: 10.3389/frobt.2023.1209202] [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: 04/20/2023] [Accepted: 06/16/2023] [Indexed: 07/21/2023] Open
Abstract
Over the years, efforts in bioinspired soft robotics have led to mobile systems that emulate features of natural animal locomotion. This includes combining mechanisms from multiple organisms to further improve movement. In this work, we seek to improve locomotion in soft, amphibious robots by combining two independent mechanisms: sea star locomotion gait and gecko adhesion. Specifically, we present a sea star-inspired robot with a gecko-inspired adhesive surface that is able to crawl on a variety of surfaces. It is composed of soft and stretchable elastomer and has five limbs that are powered with pneumatic actuation. The gecko-inspired adhesion provides additional grip on wet and dry surfaces, thus enabling the robot to climb on 25° slopes and hold on statically to 51° slopes.
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Affiliation(s)
- Sampada Acharya
- Far-from-equilibrium Materials Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Peter Roberts
- Soft Machines Lab, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Tejas Rane
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Raghav Singhal
- Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Peize Hong
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Viraj Ranade
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Carmel Majidi
- Soft Machines Lab, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Victoria Webster-Wood
- The CMU B.O.R.G, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
| | - B. Reeja-Jayan
- Far-from-equilibrium Materials Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States
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Kararsiz G, Duygu YC, Rogowski LW, Bhattacharjee A, Kim MJ. Rolling Motion of a Soft Microsnowman under Rotating Magnetic Field. MICROMACHINES 2022; 13:mi13071005. [PMID: 35888822 PMCID: PMC9321327 DOI: 10.3390/mi13071005] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/25/2022] [Revised: 06/21/2022] [Accepted: 06/24/2022] [Indexed: 12/10/2022]
Abstract
This paper demonstrates a manipulation of snowman-shaped soft microrobots under a uniform rotating magnetic field. Each microsnowman robot consists of two biocompatible alginate microspheres with embedded magnetic nanoparticles. The soft microsnowmen were fabricated using a microfluidic device by following a centrifuge-based microfluidic droplet method. Under a uniform rotating magnetic field, the microsnowmen were rolled on the substrate surface, and the velocity response for increasing magnetic field frequencies was analyzed. Then, a microsnowman was rolled to follow different paths, which demonstrated directional controllability of the microrobot. Moreover, swarms of microsnowmen and single alginate microrobots were manipulated under the rotating magnetic field, and their velocity responses were analyzed for comparison.
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Affiliation(s)
- Gokhan Kararsiz
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA; (G.K.); (Y.C.D.); (A.B.)
| | - Yasin Cagatay Duygu
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA; (G.K.); (Y.C.D.); (A.B.)
| | - Louis William Rogowski
- Applied Research Associates, Inc. (ARA), 4300 San Mateo Blvd. NE, Suite A-220, Albuquerque, NM 87110, USA;
| | - Anuruddha Bhattacharjee
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA; (G.K.); (Y.C.D.); (A.B.)
| | - Min Jun Kim
- Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA; (G.K.); (Y.C.D.); (A.B.)
- Correspondence: ; Tel.: +1-214-768-3972
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Abstract
Underwater robotic gliders exploit gravity and buoyancy for long-distance cruising with ultra-low energy consumptions, making them ideal for open ocean surveying operations. However, the gliding-based motion generation principle also prevents their maneuverability, limiting their use in the short distances that are usually encountered in harbors or coastal scenarios. In this work, an innovative underwater glider robot is developed, enabling maneuverability through the introduction of an efficiently actuated caudal fin with bidirectional turning capabilities. In addition, modular actuator units, based on soft actuated materials, are integrated to control pitch angle by dynamically shifting the center of mass from the center of buoyancy. As a result, the high energy efficiency feature of the gliders is maintained, while high maneuverability is also achieved. The design concept, modeling of key components, and framework for control are presented, with the prototyped glider tested in a series of bench and field trials for validation of its motion performance.
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