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通过软连续体机器人的阻尼设计实现动态形态计算

Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots.

作者信息

Di Lallo Antonio, Catalano Manuel G, Garabini Manolo, Grioli Giorgio, Gabiccini Marco, Bicchi Antonio

机构信息

Dipartimento di Ingegneria dell'Informazione, Centro di Ricerca E. Piaggio, Università di Pisa, Pisa, Italy.

Dipartimento di Ingegneria Civile e Industriale, Università di Pisa, Pisa, Italy.

出版信息

Front Robot AI. 2019 Apr 11;6:23. doi: 10.3389/frobt.2019.00023. eCollection 2019.

DOI:10.3389/frobt.2019.00023
PMID:33501039
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7806024/
Abstract

Inspired by nature, soft robotics aims at enhancing robots capabilities through the use of soft materials. This article presents the study of soft continuum robots which can change their dynamic behavior thanks to a proper design of their damping properties. It enables an under-actuated dynamic strategy to control multi-chamber pneumatic systems using a reduced number of feeding lines. The present work starts from the conceptual investigation of a way to tune the damping properties of soft continuum robots, and leverages on the introduction of viscous fluid within the soft chamber wall to produce dissipative actions. Several solutions are analyzed in simulations and the most promising one is tested experimentally. The proposed approach employs a layer of granular material immersed in viscous silicone oil to increase the damping effect. After validation and experimental characterization, the method is employed to build soft continuum actuators with different deformation patterns, i.e., extending, contracting and bending. Experimental results show the dynamic behavior of the presented actuators. Finally, the work reports information on how the actuators are designed and builded, together with a discussion about possible applications and uses.

摘要

受自然启发，软体机器人旨在通过使用软材料来增强机器人的能力。本文介绍了对软连续体机器人的研究，这种机器人由于其阻尼特性的合理设计而能够改变其动态行为。它实现了一种欠驱动动态策略，可使用数量减少的馈线来控制多腔气动系统。当前工作从对一种调整软连续体机器人阻尼特性方法的概念性研究开始，并利用在软腔壁内引入粘性流体来产生耗散作用。在模拟中分析了几种解决方案，并对最有前景的方案进行了实验测试。所提出的方法采用一层浸入粘性硅油中的颗粒材料来增强阻尼效果。经过验证和实验表征后，该方法被用于制造具有不同变形模式（即伸展、收缩和弯曲）的软连续体致动器。实验结果展示了所呈现致动器的动态行为。最后，该工作报告了有关致动器如何设计和制造的信息，以及关于可能应用和用途的讨论。

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