2 research outputs found
Retraction Mechanism of Soft Torus Robot with a Hydrostatic Skeleton
Soft robots have attracted much attention in recent years owing to their high
adaptability. Long articulated soft robots enable diverse operations, and
tip-extending robots that navigate their environment through growth are highly
effective in robotic search applications. Because the robot membrane extends
from the tip, these robots can lengthen without friction from the environment.
However, the flexibility of the membrane inhibits tip retraction. Two methods
have been proposed to resolve this issue; increasing the pressure of the
internal fluid to reinforce rigidity, and mounting an actuator at the tip. The
disadvantage of the former is that the increase is limited by the membrane
pressure resistance, while the second method adds to the robot complexity. In
this paper, we present a tip-retraction mechanism without bending motion that
takes advantage of the friction from the external environment. Water is used as
the internal fluid to increase ground pressure with the environment. We explore
the failure pattern of the retraction motion and propose plausible solutions by
using hydrostatic skeleton robot. Additionally, we develop a prototype robot
that successfully retracts by using the proposed methodology. Our solution can
contribute to the advancement of mechanical design in the soft robotics field
with applications to soft snakes and manipulators.Comment: 8 pages, 10 figure
Distributed Sensor Networks Deployed Using Soft Growing Robots
Due to their ability to move without sliding relative to their environment,
soft growing robots are attractive for deploying distributed sensor networks in
confined spaces. Sensing of the state of such robots would also add to their
capabilities as human-safe, adaptable manipulators. However, incorporation of
distributed sensors onto soft growing robots is challenging because it requires
an interface between stiff and soft materials, and the sensor network needs to
undergo significant strain. In this work, we present a method for adding
sensors to soft growing robots that uses flexible printed circuit boards with
self-contained units of microcontrollers and sensors encased in a laminate
armor that protects them from unsafe curvatures. We demonstrate the ability of
this system to relay directional temperature and humidity information in
hard-to-access spaces. We also demonstrate and characterize a method for
sensing the growing robot shape using inertial measurement units deployed along
its length, and develop a mathematical model to predict its accuracy. This work
advances the capabilities of soft growing robots, as well as the field of soft
robot sensing.Comment: https://www.youtube.com/watch?v=VLT3b9n0vqE&featur