900 research outputs found
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
An earthworm-like modular soft robot for locomotion in multi-terrain environments
Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments
Cryptocurrency with a Conscience: Using Artificial Intelligence to Develop Money that Advances Human Ethical Values
Cryptocurrencies like Bitcoin are offering new avenues for economic empowerment
to individuals around the world. However, they also provide a powerful tool that
facilitates criminal activities such as human trafficking and illegal weapons sales
that cause great harm to individuals and communities. Cryptocurrency advocates
have argued that the ethical dimensions of cryptocurrency are not qualitatively new,
insofar as money has always been understood as a passive instrument that lacks
ethical values and can be used for good or ill purposes. In this paper, we challenge
such a presumption that money must be ‘value-neutral.’ Building on advances in
artificial intelligence, cryptography, and machine ethics, we argue that it is possible
to design artificially intelligent cryptocurrencies that are not ethically neutral but
which autonomously regulate their own use in a way that reflects the ethical values
of particular human beings – or even entire human societies. We propose a technological framework for such cryptocurrencies and then analyse the legal, ethical, and
economic implications of their use. Finally, we suggest that the development of
cryptocurrencies possessing ethical as well as monetary value can provide human
beings with a new economic means of positively influencing the ethos and values
of their societies
The Effect of Internal Damping on Locomotion in Frictional Environments
The gaits of undulating animals arise from a complex interaction of their
central nervous system, muscle, connective tissue, bone, and environment. As a
simplifying assumption, many previous studies have often assumed that
sufficient internal force is available to produce observed kinematics, thus not
focusing on quantifying the interconnection between muscle effort, body shape,
and external reaction forces. This interplay, however, is critical to
locomotion performance in crawling animals, especially when accompanied by body
viscoelasticity. Moreover, in bio-inspired robotic applications, the body's
internal damping is indeed a parameter that the designer can tune. Still, the
effect of internal damping is not well understood. This study explores how
internal damping affects the locomotion performance of a crawler with a
continuous, visco-elastic, nonlinear beam model. Crawler muscle actuation is
modeled as a traveling wave of bending moment propagating posteriorly along the
body. Consistent with the friction properties of the scales of snakes and
limbless lizards, environmental forces are modeled using anisotropic Coulomb
friction. It is found that by varying the crawler body's internal damping, the
crawler's performance can be altered, and distinct gaits could be achieved,
including changing the net locomotion direction from forward to back. We will
discuss this forward and backward control and identify the optimal internal
damping for peak crawling speed
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