Developing Design and Analysis Framework for Hybrid Mechanical-Digital Control of Soft Robots: from Mechanics-Based Motion Sequencing to Physical Reservoir Computing

The recent advances in the field of soft robotics have made autonomous soft robots working in unstructured dynamic environments a close reality. These soft robots can potentially collaborate with humans without causing any harm, they can handle fragile objects safely, perform delicate surgeries inside body, etc. In our research we focus on origami based compliant mechanisms, that can be used as soft robotic skeleton. Origami mechanisms are inherently compliant, lightweight, compact, and possess unique mechanical properties such as– multi-stability, nonlinear dynamics, etc. Researchers have shown that multi-stable mechanisms have applications in motion-sequencing applications. Additionally, the nonlinear dynamic properties of origami and other soft, compliant mechanisms are shown to be useful for ‘morphological computation’ in which the body of the robot itself takes part in performing complex computations required for its control. In our research we demonstrate the motion-sequencing capability of multi-stable mechanisms through the example of bistable Kresling origami robot that is capable of peristaltic locomotion. Through careful theoretical analysis and thorough experiments, we show that we can harness multistability embedded in the origami robotic skeleton for generating actuation cycle of a peristaltic-like locomotion gait. The salient feature of this compliant robot is that we need only a single linear actuator to control the total length of the robot, and the snap-through actions generated during this motion autonomously change the individual segment lengths that lead to earthworm-like peristaltic locomotion gait. In effect, the motion-sequencing is hard-coded or embedded in the origami robot skeleton. This approach is expected to reduce the control requirement drastically as the robotic skeleton itself takes part in performing low-level control tasks. The soft robots that work in dynamic environments should be able to sense their surrounding and adapt their behavior autonomously to perform given tasks successfully. Thus, hard-coding a certain behavior as in motion-sequencing is not a viable option anymore. This led us to explore Physical Reservoir Computing (PRC), a computational framework that uses a physical body with nonlinear properties as a ‘dynamic reservoir’ for performing complex computations. The compliant robot ‘trained’ using this framework should be able to sense its surroundings and respond to them autonomously via an extensive network of sensor-actuator network embedded in robotic skeleton. We show for the first time through extensive numerical analysis that origami mechanisms can work as physical reservoirs. We also successfully demonstrate the emulation task using a Miura-ori based reservoir. The results of this work will pave the way for intelligently designed origami-based robots with embodied intelligence. These next generation of soft robots will be able to coordinate and modulate their activities autonomously such as switching locomotion gait and resisting external disturbances while navigating through unstructured environments

Technology 2000, volume 1

The purpose of the conference was to increase awareness of existing NASA developed technologies that are available for immediate use in the development of new products and processes, and to lay the groundwork for the effective utilization of emerging technologies. There were sessions on the following: Computer technology and software engineering; Human factors engineering and life sciences; Information and data management; Material sciences; Manufacturing and fabrication technology; Power, energy, and control systems; Robotics; Sensors and measurement technology; Artificial intelligence; Environmental technology; Optics and communications; and Superconductivity

Fabricate 2014

FABRICATE is an international peer reviewed conference that takes place every three years with a supporting publication on the theme of Digital Fabrication. Discussing the progressive integration of digital design with manufacturing processes, and its impact on design and making in the 21st century, FABRICATE brings together pioneers in design and making within architecture, construction, engineering, manufacturing, materials technology and computation. Discussion on key themes includes: how digital fabrication technologies are enabling new creative and construction opportunities from component to building scales, the difficult gap that exists between digital modelling and its realisation, material performance and manipulation, off-site and on-site construction, interdisciplinary education, economic and sustainable contexts. FABRICATE features cutting-edge built work from both academia and practice, making it a unique event that attracts delegates from all over the worl

NASA Tech Briefs, Fall 1976

Topics include: NASA TU Services: Technology Utilization services that can assist you in learning about and applying NASA technology; New Product Ideas: A summary of seloc.ted Innovations of value to manufacturers for the development of new products; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Life Sciences; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences

Cumulative index to NASA Tech Briefs, 1986-1990, volumes 10-14

Tech Briefs are short announcements of new technology derived from the R&D activities of the National Aeronautics and Space Administration. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This cumulative index of Tech Briefs contains abstracts and four indexes (subject, personal author, originating center, and Tech Brief number) and covers the period 1986 to 1990. The abstract section is organized by the following subject categories: electronic components and circuits, electronic systems, physical sciences, materials, computer programs, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences

Proceedings of the 2021 DigitalFUTURES

This open access book is a compilation of selected papers from 2021 DigitalFUTURES—The 3rd International Conference on Computational Design and Robotic Fabrication (CDRF 2021). The work focuses on novel techniques for computational design and robotic fabrication. The contents make valuable contributions to academic researchers, designers, and engineers in the industry. As well, readers encounter new ideas about understanding material intelligence in architecture

NASA Tech Briefs, January 1992

Topics include: New Product Ideas; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery/Automation; Fabrication; Mathematics and Information Sciences; Life Sciences

History of Construction Cultures Volume 2

Volume 2 of History of Construction Cultures contains papers presented at the 7ICCH – Seventh International Congress on Construction History, held at the Lisbon School of Architecture, Portugal, from 12 to 16 July, 2021. The conference has been organized by the Lisbon School of Architecture (FAUL), NOVA School of Social Sciences and Humanities, the Portuguese Society for Construction History Studies and the University of the Azores. The contributions cover the wide interdisciplinary spectrum of Construction History and consist on the most recent advances in theory and practical case studies analysis, following themes such as: - epistemological issues; - building actors; - building materials; - building machines, tools and equipment; - construction processes; - building services and techniques ; -structural theory and analysis ; - political, social and economic aspects; - knowledge transfer and cultural translation of construction cultures. Furthermore, papers presented at thematic sessions aim at covering important problematics, historical periods and different regions of the globe, opening new directions for Construction History research. We are what we build and how we build; thus, the study of Construction History is now more than ever at the centre of current debates as to the shape of a sustainable future for humankind. Therefore, History of Construction Cultures is a critical and indispensable work to expand our understanding of the ways in which everyday building activities have been perceived and experienced in different cultures, from ancient times to our century and all over the world

History of Construction Cultures Volume 2

Volume 2 of History of Construction Cultures contains papers presented at the 7ICCH – Seventh International Congress on Construction History, held at the Lisbon School of Architecture, Portugal, from 12 to 16 July, 2021. The conference has been organized by the Lisbon School of Architecture (FAUL), NOVA School of Social Sciences and Humanities, the Portuguese Society for Construction History Studies and the University of the Azores. The contributions cover the wide interdisciplinary spectrum of Construction History and consist on the most recent advances in theory and practical case studies analysis, following themes such as: - epistemological issues; - building actors; - building materials; - building machines, tools and equipment; - construction processes; - building services and techniques ; -structural theory and analysis ; - political, social and economic aspects; - knowledge transfer and cultural translation of construction cultures. Furthermore, papers presented at thematic sessions aim at covering important problematics, historical periods and different regions of the globe, opening new directions for Construction History research. We are what we build and how we build; thus, the study of Construction History is now more than ever at the centre of current debates as to the shape of a sustainable future for humankind. Therefore, History of Construction Cultures is a critical and indispensable work to expand our understanding of the ways in which everyday building activities have been perceived and experienced in different cultures, from ancient times to our century and all over the world