Bio-inspired Tensegrity Soft Modular Robots

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar manufacturing techniques, such as 3D printing. We use this strategy to develop icosahedron tensegrity structures with programmable variable stiffness that can deform in a three-dimensional space. We also describe a tendon-driven contraction mechanism to actively control the deformation of the tensegrity mod-ules. Finally, we validate the approach in a modular locomotory worm as a proof of concept.Comment: 12 pages, 7 figures, submitted to Living Machine conference 201

Design and Implement Towards Enhanced Physical Interactive Performance Robot Bodies

In this thesis, it will introduce the design principle and implement details towards enhanced physical interactive performance robot bodies, which are more specically focused on under actuated principle robotic hands and articulated leg robots. Since they both signicantly function as the physical interactive robot bodies against external environment, while their current performance can hardly satisfy the requirement of undertaking missions in real application. Regarding to the enhanced physical interactive performances, my work will emphasis on the three following specific functionalities, high energy efficiency, high strength and physical sturdiness in both robotics actuation and mechanism. For achieving the aforementioned targets, multiple design methods have been applied, rstly the elastic energy storage elements and compliant actuation have been adopted in legged robots as Asymmetrical Compliant Actuation (ACA), implemented for not only single joint but also multiple joints as mono and biarticulation congurations in order to achieve higher energy effciency motion. Secondly the under actuated principle and modular nger design concept have been utilized on the development of robotic hands for enhancing the grasping strength and physical sturdiness meanwhile maintaining the manipulation dexterity. Lastly, a novel high payload active tuning Parallel Elastic Actuation (PEA) and Series Elastic Actuation (SEA) have been adopted on legged robots for augmenting energy eciency and physical sturdiness. My thesis contribution relies on the novel design and implement of robotics bodies for enhancing physical interactive performance and we experimentally veried the design effectiveness in specic designed scenario and practical applications

Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots

Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high strength and compactness of biological muscle. We develop a stackable electrostatic brake that has comparable specific tension and weight to that of muscles and integrate it into a robotic joint. Compared to electromechanical motors, our brake-equipped joint is four times lighter and one thousand times more power efficient while exerting similar holding torques. Our joint design enables a ten degree-of-freedom robot equipped with only one motor to manipulate multiple objects simultaneously. We also show that the use of brakes allows a two-fingered robot to perform in-hand re-positioning of an object 45% more quickly and with 53% lower positioning error than without brakes. Relative to fully actuated robots, our findings suggest that robots equipped with such electrostatic brakes will have lower weight, volume, and power consumption yet retain the ability to reach arbitrary joint configurations.Comment: 17 pages, 15 figure

Octopus‐Inspired Soft Arm with Suction Cups for Enhanced Grasping Tasks in Confined Environments

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