Bio-inspired soft robotic systems: Exploiting environmental interactions using embodied mechanics and sensory coordination

Despite the widespread development of highly intelligent robotic systems exhibiting great precision, reliability, and dexterity, robots remain incapable of performing basic manipulation tasks that humans take for granted. Manipulation in unstructured environments continues to be acknowledged as a significant challenge. Soft robotics, the use of less rigid materials in robots, has been proposed as one means of addressing these limitations. The technique enables more compliant interactions with the environment, allowing for increasingly adaptive behaviours better suited to more human-centric applications. Embodied intelligence is a biologically inspired concept in which intelligence is a function of the entire system, not only the controller or `brain'. This thesis focuses on the use of embodied intelligence for the development of soft robots, with a particular focus on how it can aid both perception and adaptability. Two main hypotheses are raised: first, that the mechanical design and fabrication of soft-rigid hybrid robots can enable increasingly environmentally adaptive behaviours, and second, that sensing materials and morphology can provide intelligence that assists perception through embodiment. A number of approaches and frameworks for the design and development of embodied systems are presented that address these hypotheses. It is shown how embodiment in soft sensor morphology can be used to perform localised processing and thereby distribute the intelligence over the body of a system. Specifically in soft robots, sensor morphology utilises the directional deformations created by interactions with the environment to aid in perception. Building on and formalising these ideas, a number of morphology-based frameworks are proposed for detecting different stimuli. The multifaceted role of materials in soft robots is demonstrated through the development of materials capable of both sensing and changes in material property. Such materials provide additional functionality beyond their integral scaffolding and static mechanical characteristics. In particular, an integrated material has been created exhibiting both sensing capabilities and also variable stiffness and `tack’ force, thereby enabling complex single-point grasping. To maximise the intelligence that can be gained through embodiment, a design approach to soft robots, `soft-rigid hybrid' design is introduced. This approach exploits passive behaviours and body dynamics to provide environmentally adaptive behaviours and sensing. It is leveraged by multi-material 3D printing techniques and novel approaches and frameworks for designing mechanical structures. The findings in this thesis demonstrate that an embodied approach to soft robotics provides capabilities and behaviours that are not currently otherwise achievable. Utilising the concept of `embodiment' results in softer robots with an embodied intelligence that aids perception and adaptive behaviours, and has the potential to bring the physical abilities of robots one step closer to those of animals and humans.EPSR

Performance of modified jatropha oil in combination with hexagonal boron nitride particles as a bio-based lubricant for green machining

This study evaluates the machining performance of newly developed modified jatropha oils (MJO1, MJO3 and MJO5), both with and without hexagonal boron nitride (hBN) particles (ranging between 0.05 and 0.5 wt%) during turning of AISI 1045 using minimum quantity lubrication (MQL). The experimental results indicated that, viscosity improved with the increase in MJOs molar ratio and hBN concentration. Excellent tribological behaviours is found to correlated with a better machining performance were achieved by MJO5a with 0.05 wt%. The MJO5a sample showed the lowest values of cutting force, cutting temperature and surface roughness, with a prolonged tool life and less tool wear, qualifying itself to be a potential alternative to the synthetic ester, with regard to the environmental concern

An anthropomorphic soft skeleton hand exploiting conditional models for piano playing.

The development of robotic manipulators and hands that show dexterity, adaptability, and subtle behavior comparable to human hands is an unsolved research challenge. In this article, we considered the passive dynamics of mechanically complex systems, such as a skeleton hand, as an approach to improving adaptability, dexterity, and richness of behavioral diversity of such robotic manipulators. With the use of state-of-the-art multimaterial three-dimensional printing technologies, it is possible to design and construct complex passive structures, namely, a complex anthropomorphic skeleton hand that shows anisotropic mechanical stiffness. We introduce a concept, termed the "conditional model," that exploits the anisotropic stiffness of complex soft-rigid hybrid systems. In this approach, the physical configuration, environment conditions, and conditional actuation (applied actuation) resulted in an observable conditional model, allowing joint actuation through passivity-based dynamic interactions. The conditional model approach allowed the physical configuration and actuation to be altered, enabling a single skeleton hand to perform three different phrases of piano music with varying styles and forms and facilitating improved dynamic behaviors and interactions with the piano over those achievable with a rigid end effector

Robonaut 2 - The First Humanoid Robot in Space

NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in late 2010 and undergo initial testing in early 2011. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth and improved dexterity. R2 s integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model s ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people

A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 344)

This bibliography lists 125 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during January, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

Control Implementation of Dynamic Locomotion on Compliant, Underactuated, Force-Controlled Legged Robots with Non-Anthropomorphic Design

The control of locomotion on legged robots traditionally involves a robot that takes a standard legged form, such as the anthropomorphic humanoid, the dog-like quadruped, or the bird-like biped. Additionally, these systems will often be actuated with position-controlled servos or series-elastic actuators that are connected through rigid links. This work investigates the control implementation of dynamic, force-controlled locomotion on a family of legged systems that significantly deviate from these classic paradigms by incorporating modern, state-of-the-art proprioceptive actuators on uniquely configured compliant legs that do not closely resemble those found in nature. The results of this work can be used to better inform how to implement controllers on legged systems without stiff, position-controlled actuators, and also provide insight on how intelligently designed mechanical features can potentially simplify the control of complex, nonlinear dynamical systems like legged robots. To this end, this work presents the approach to control for a family of non-anthropomorphic bipedal robotic systems which are developed both in simulation and with physical hardware. The first is the Non-Anthropomorphic Biped, Version 1 (NABi-1) that features position-controlled joints along with a compliant foot element on a minimally actuated leg, and is controlled using simple open-loop trajectories based on the Zero Moment Point. The second system is the second version of the non-anthropomorphic biped (NABi-2) which utilizes the proprioceptive Back-drivable Electromagnetic Actuator for Robotics (BEAR) modules for actuation and fully realizes feedback-based force controlled locomotion. These systems are used to highlight both the strengths and weaknesses of utilizing proprioceptive actuation in systems, and suggest the tradeoffs that are made when using force control for dynamic locomotion. These systems also present case studies for different approaches to system design when it comes to bipedal legged robots