Design, fabrication and control of soft robots

Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.National Science Foundation (U.S.) (Grant IIS-1226883

Soft-Material Robotics

There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review and position papers on soft-material robotics, which mostly present case studies and/or discuss trends and challenges, the review focuses on the fundamentals of the research field. First, it gives a definition of softmaterial robotics and introduces its history, which dates back to the late 1970s. Second, it provides characterization of soft-materials, actuators and sensing elements. Third, it presents two general approaches to mathematical modelling of kinematics of soft-material robots; that is, piecewise constant curvature approximation and variable curvature approach, as well as their related statics and dynamics. Fourth, it summarizes control methods that have been used for soft-material robots and other continuum robots in both model-based fashion and model-free fashion. Lastly, applications or potential usage of soft-material robots are described related to wearable robots, medical robots, grasping and manipulation

Osnovni tjelesni nacrti za mekane modularne pneubotske konstrukcije u arhitekturi

This article introduces a theoretical model for the design of pneubotic structures that can be constructed and actuated by using the modular unit volume element. Through analysis of construction of soft robots, pneumatically adaptive and responsive structures and art installations, a set of four basic body plans is proposed, as abstract expressions that form a base for the design of soft modular pneubotics in architecture.Članak donosi teorijski model za projektiranje mekih pneubotskih konstrukcija koje se mogu konstruirati i pokretati koristeći jedinični modularni volumenski element. Analizom konstrukcije mekih robota, pneumatski prilagodljivih i reagirajućih konstrukcija te umjetničkih instalacija, dobiven je set od četiriju osnovnih tipova tjelesnih nacrta kao apstraktnih izraza za projektiranje složenih modularnih pneubotskih konstrukcija u arhitekturi

Soft manipulators and grippers: A review

Soft robotics is a growing area of research which utilizes the compliance and adaptability of soft structures to develop highly adaptive robotics for soft interactions. One area in which soft robotics has the ability to make significant impact is in the development of soft grippers and manipulators. With an increased requirement for automation, robotics systems are required to perform task in unstructured and not well defined environments; conditions which conventional rigid robotics are not best suited. This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments. One solution to this is soft robotics, which enables soft interactions with the surroundings while maintaining the ability to apply significant force. This review paper assesses the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and this paper concludes with a discussion on the potential impacts of soft manipulators on industry and society

KINE[SIS]TEM'17 From Nature to Architectural Matter

Kine[SiS]tem – From Kinesis + System. Kinesis is a non-linear movement or activity of an organism in response to a stimulus. A system is a set of interacting and interdependent agents forming a complex whole, delineated by its spatial and temporal boundaries, influenced by its environment. How can architectural systems moderate the external environment to enhance comfort conditions in a simple, sustainable and smart way? This is the starting question for the Kine[SiS]tem’17 – From Nature to Architectural Matter International Conference. For decades, architectural design was developed despite (and not with) the climate, based on mechanical heating and cooling. Today, the argument for net zero energy buildings needs very effective strategies to reduce energy requirements. The challenge ahead requires design processes that are built upon consolidated knowledge, make use of advanced technologies and are inspired by nature. These design processes should lead to responsive smart systems that deliver the best performance in each specific design scenario. To control solar radiation is one key factor in low-energy thermal comfort. Computational-controlled sensor-based kinetic surfaces are one of the possible answers to control solar energy in an effective way, within the scope of contradictory objectives throughout the year.FC