期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 35, 期 8, 页码 1000-1019出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364915587926
关键词
Dynamics; mechanics; design and control; flexible arms; mechanics; design and control; underactuated robots; mechanics; design and control; manipulation planning; manipulation
类别
资金
- National Science Foundation [NSF 1117178, NSF IIS1226883, NSF CCF1138967]
- NSF Graduate Research Fellowship Program [1122374]
The goal of this work is to develop a soft-robotic manipulation system that is capable of autonomous, dynamic, and safe interactions with humans and its environment. First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. Then, we present a strategy for independently identifying all of the unknown components of the system; these are the soft manipulator, its distributed fluidic elastomer actuators, as well as the drive cylinders that supply fluid energy. Next, using this model and trajectory-optimization techniques we find locally-optimal open-loop policies that allow the system to perform dynamic maneuvers we call grabs. In 37 experimental trials with a physical prototype, we successfully perform a grab 92% of the time. Last, we introduce the idea of static bracing for a soft elastomer arm and discuss how forming environmental braces might be an effective manipulation strategy for this class of robots. By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines.
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