Biomimicry in Soft Robotics Actuation and Locomotion

Stuttaford-Fowler, Angus; Samani, Hooman; Yang, Chan-Yun

doi:10.1109/icsse55923.2022.9948246

Cited by 4 publications

(4 citation statements)

References 29 publications

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“…The third class of robots implements the use of pneumatic and hydraulic actuators, which allow for nonrigid movements and provide a high capacity to manipulate objects; however, at the same time, this kind of robot requires the use of pumps, thus increasing their cost and difficulty of transportation [ 38 , 39 , 40 ]. The final class of robots implements non-conventional actuators, which can be implemented on the robot without the necessity of a transmission system, such as the parallel elastic actuator [ 41 ], hydraulically amplified self-healing actuator [ 42 ], and shape memory alloy (SMA) actuators [ 43 , 44 ]. These actuators can be placed on the robot without a significant increase in size, such that they can still be used in narrow spaces.…”

Section: Introductionmentioning

confidence: 99%

Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators

Cortez,

Sandoval-Chileño,

Lozada-Castillo

et al. 2024

Biomimetics

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This study presents the design and evaluation of a prototype snake-like robot that possesses an actuation system based on shape memory alloys (SMAs). The device is constructed based on a modular structure of links connected by two degrees of freedom links utilizing Cardan joints, where each degree of freedom is actuated by an agonist–antagonist mechanism using the SMA spring-shaped actuators to generate motion, which can be easily replaced once they reach a degradation point. The methodology for programming the spring shape into the SMA material is described in this work, as well as the instrumentation required for the monitoring and control of the actuators. A simplified design is presented to describe the way in which the motion is performed and the technical difficulties faced in manufacturing. Based on this information, the way in which the design is adapted to generate a feasible robotic system is described, and a mathematical model for the robot is developed to implement an independent joint controller. The feasibility of the implementation of the SMA actuators regarding the motion of the links is verified for the case of a joint, and the change in the shape of the snake robot is verified through the implementation of a set of tracking references based on a central pattern generator. The generated tracking results confirm the feasibility of the proposed mechanism in terms of performing snake gaits, as well as highlighting some of the drawbacks that should be considered in further studies.

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Section: Introductionmentioning

confidence: 99%

Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators

Cortez,

Sandoval-Chileño,

Lozada-Castillo

et al. 2024

Biomimetics

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“…Historical events such as global pandemics and wars have underscored the significance of contingency robotic systems. Contingency systems capable of operating in hazardous environments or performing repetitive and collaborative tasks will allow humans to shift their focus to capital and knowledge-intensive industries [6,7] .…”

Section: Introductionmentioning

confidence: 99%

Soft alchemy: a comprehensive guide to chemical reactions for pneumatic soft actuation

Villeda-Hernandez,

Baker,

Romero

et al. 2024

Soft Sci

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Soft robotics has emerged as a transformative field, leveraging bio-inspired novel actuation mechanisms to enable more adaptable, compliant, and sophisticated robotic systems. However, the portability of soft pneumatic actuators is typically constrained by the tethering to bulky power sources. This review offers a thorough analysis of autonomous power alternatives facilitated by chemical reactions for gas generation and absorption, a concept analogous to biological energy conversion processes. These bio-inspired strategies propel soft pneumatic actuators towards new horizons of autonomy and portability, essential for real-world applications. This comprehensive review explores the critical intersection of gas evolution reactions (GERs) and gas consumption reactions (GCRs) as a power source for pneumatic actuation in soft robotics. We here emphasize the importance and impact of bio-inspired design, control, efficiency, safety, and sustainability within soft robotics to not only mimic biological motions but to enhance them. This review explores the fundamentals of both pneumatic and chemically powered actuation, highlighting the need for careful consideration of reaction kinetics. Additionally, this work highlights key aspects of smart materials that draw from biological structures and response mechanisms, along with state-of-the-art techniques for precise pressure modulation. Finally, we chart prospective development pathways and provide a future outlook for bio-inspired soft robotics, emphasizing the transformative impact of integrating chemical actuation methods. This exploration underlines the quest for further autonomy in soft robotic systems and points towards the future opportunities in this exciting and fast-developing field.

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“…Soft robots have a wide range of applications, including medical and surgical devices [26][27][28], industrial automation [29][30][31][32][33], human-robot interaction [34][35][36][37][38], environmental monitoring and underwater exploration [39,40], biomimicry [41][42][43][44][45][46][47][48], search and rescue operations [49] and entertainment [50,51].…”

Section: Introductionmentioning

confidence: 99%

Intermediate Encoding Layers for the Generative Design of 2D Soft Robot Actuators: A Comparison of CPPN’s, L-Systems and Random Generation

Venter

Conradie

2023

MCA

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This paper introduced a comparison method for three explicitly defined intermediate encoding methods in generative design for two-dimensional soft robotic units. This study evaluates a conventional genetic algorithm with full access to removing elements from the design domain using an implicit random encoding layer, a Lindenmayer system encoding mimicking biological growth patterns and a compositional pattern producing network encoding for 2D pattern generation. The objective of the optimisation problem is to match the deformation of a single actuator unit with a desired target shape, specifically uni-axial elongation, under internal pressure. The study results suggest that the Lindenmayer system encoding generates candidate units with fewer function evaluations than the traditional implicitly encoded genetic algorithm. However, the distribution of constraint and internal energy is similar to that of the random encoding, and the Lindenmayer system encoding produces a less diverse population of candidate units. In contrast, despite requiring more function evaluations than the Lindenmayer System encoding, the Compositional Pattern Producing Network encoding produces a similar diversity of candidate units. Overall, the Compositional Pattern Producing Network encoding results in a proportionally higher number of high-performing units than the random or Lindenmayer system encoding, making it a viable alternative to a conventional monolithic approach. The results suggest that the compositional pattern producing network encoding may be a promising approach for designing soft robotic actuators with desirable performance characteristics.

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Biomimicry in Soft Robotics Actuation and Locomotion

Cited by 4 publications

References 29 publications

Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators

Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators

Soft alchemy: a comprehensive guide to chemical reactions for pneumatic soft actuation

Intermediate Encoding Layers for the Generative Design of 2D Soft Robot Actuators: A Comparison of CPPN’s, L-Systems and Random Generation

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