Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility and dexterity. In addition, soft systems that are pneumatically actuated can claim high power to weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design presented in this paper successfully decouples its end-effector positioning from its stiffness. An experimental characterisation of this ability is coupled with a mathematical analysis. The arm combines the light weight, high payload to weight ratio and robustness of pneumatic actuation with the adaptability and versatility of variable stiffness. Light weight is a vital component of the inherent safety approach to physical human-robot interaction. In order to characterise the arm, a neural network analysis of the curvature of the arm for different input pressures is performed. The curvature-pressure relationship is also characterised experimentally

Development and testing of a pyro-driven launcher for harpoon-based comet sample acquisition

The CORSAIR (COmet Rendezvous, Sample Acquisition, Investigation, and Return) mission is a proposal for the fourth NASA New Frontiers program. It belongs to the Comet Surface Sample Return mission theme which focuses on acquiring and returning to Earth a macroscopic sample from the surface of a comet nucleus. CORSAIR uses a harpoon-based Sample Acquisition System (SAS) with the spacecraft hovering several meters above the comet surface. This stand-off strategy overcomes disadvantages of systems using drills or shovels. Since comets are low gravity objects, these techniques would require anchoring before sampling, which is not necessary here. Moreover, the harpoon-based system allows for acquiring several samples from different locations on the comet maximizing the scientifc output of the mission. Each SAS assembly consists of a pyro-driven launcher, a Sample Acquisition and Retrieval Projectile (SARP) and a retraction system using a deployable composite boom structure. In order to collect enough cometary material, the launcher has to provide the required kinetic energy to the SARP. Due to high energy densities, pyrotechnically actuated devices ultimately reduce the overall system mass and dimensions. Here, an overview of the development, design and testing of the launcher is given. Furthermore, the launcher theory is introduced explaining the entire reaction chain: initiation -> gas dynamics -> SARP motion

Adaptive Optimal Feedback Control with Learned Internal Dynamics Models

Optimal Feedback Control (OFC) has been proposed as an attractive movement generation strategy in goal reaching tasks for anthropomorphic manipulator systems. Recent developments, such as the Iterative Linear Quadratic Gaussian (ILQG) algorithm, have focused on the case of non-linear, but still analytically available, dynamics. For realistic control systems, however, the dynamics may often be unknown, difficult to estimate, or subject to frequent systematic changes. In this chapter, we combine the ILQG framework with learning the forward dynamics for simulated arms, which exhibit large redundancies, both, in kinematics and in the actuation. We demonstrate how our approach can compensate for complex dynamic perturbations in an online fashion. The specific adaptive framework introduced lends itself to a computationally more efficient implementation of the ILQG optimisation without sacrificing control accuracy – allowing the method to scale to large DoF systems

A variable stiffness soft gripper using granular jamming and biologically inspired pneumatic muscles

As the domains in which robots operate change the objects a robot may be required to grasp and manipulate are likely to vary significantly and often. Furthermore there is increasing likelihood that in the future robots will work collaboratively alongside people. There has therefore been interest in the development of biologically inspired robot designs which take inspiration from nature. This paper presents the design and testing of a variable stiffness, three fingered soft gripper which uses pneumatic muscles to actuate the fingers and granular jamming to vary their stiffness. This gripper is able to adjust its stiffness depending upon how fragile/deformable the object being grasped is. It is also lightweight and low inertia making it better suited to operation near people. Each finger is formed from a cylindrical rubber bladder filled with a granular material. It is shown how decreasing the pressure inside the finger increases the jamming effect and raises finger stiffness. The paper shows experimentally how the finger stiffness can be increased from 21 to 71 N/m. The paper also describes the kinematics of the fingers and demonstrates how they can be position-controlled at a range of different stiffness values

Variable Impedance Actuators: Moving the Robots of Tomorrow

Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans. By studying and constructing variable impedance actuators and their control, we contribute to the development of actuation units which can match the intrinsic safety, motion performance and energy efficiency of biological systems and in particular the human. As such, this may lead to a new generation of robots that can co-exist and co-operate with people and get closer to the human manipulation and locomotion performance than is possible with current robots