Whole arm planning for a soft and highly compliant 2D robotic manipulator

Marchese, Andrew D.; Katzschmann, Robert K.; Rus, Daniela

doi:10.1109/iros.2014.6942614

Cited by 103 publications

(77 citation statements)

References 29 publications

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“…We developed a new spatial manipulator morphology that is modular in design and well suited for automation. We constructed multiple physical prototypes of this soft arm using an innovative multi-step casting process that extends our approach to building manipulators from two dimensions (Marchese et al, 2014a) to three dimensions. We developed, simulateed, and experimentally validated a static model in order to understand how a single segment of this manipulator deforms.…”

Section: Resultsmentioning

confidence: 99%

Design, kinematics, and control of a soft spatial fluidic elastomer manipulator

Marchese

Rus

2015

The International Journal of Robotics Research

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275

167

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This paper presents a robotic manipulation system capable of autonomously positioning a multi-segment soft fluidic elastomer robot in three dimensions. Specifically, we present an extremely soft robotic manipulator morphology that is composed entirely from low durometer elastomer, powered by pressurized air, and designed to be both modular and durable. To understand the deformation of a single arm segment, we develop and experimentally validate a static deformation model. Then, to kinematically model the multi-segment manipulator, we use a piece-wise constant curvature assumption consistent with more traditional continuum manipulators. In addition, we define a complete fabrication process for this new manipulator and use this process to make multiple functional prototypes. In order to power the robot's spatial actuation, a high capacity fluidic drive cylinder array is implemented, providing continuously variable, closed-circuit gas delivery. Next, using real-time data from a vision system, we develop a processing and control algorithm that generates realizable kinematic curvature trajectories and controls the manipulator's configuration along these trajectories. Lastly, we experimentally demonstrate new capabilities offered by this soft fluidic elastomer manipulation system such as entering and advancing through confined three-dimensional environments as well as conforming to goal shape-configurations within a sagittal plane under closed-loop control.

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Section: Resultsmentioning

confidence: 99%

Design, kinematics, and control of a soft spatial fluidic elastomer manipulator

Marchese

Rus

2015

The International Journal of Robotics Research

Self Cite

275

167

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“…This means that even from a single device, multi-degree-of-freedom actuation could be generated. Especially the segmentation of the LMPA may enable local stiffening of the robot, which could be used for dextrous manipulators (e.g., [8], [31]) and endoscopes (e.g., [32]). The self-sensing capability of both the DEA and the LMPA substrate in VSDEA would support controlling of those applications.…”

Section: Discussionmentioning

confidence: 99%

Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy

Shintake

Schubert

Rosset

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

196

105

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Abstract-A novel variable stiffness actuator composed of a dielectric elastomer actuator (DEA) and a low-melting-pointalloy (LMPA) embedded silicone substrate is demonstrated. The device which we call variable stiffness dielectric elastomer actuator (VSDEA) enables functional soft robots with a simplified structure, where the DEA generates a bending actuation and the LMPA provides controllable stiffness between soft and rigid states by Joule heating. The entire structure of VSDEA is made of soft silicones with an elastic modulus of less than 1 MPa providing a high compliance when the LMPA is active. The device has the dimension of 40 mm length × 10 mm width × 1 mm thickness, with mass of ∼1 g. We characterize VSDEA in terms of the actuation stroke angle, the blocked force, and the reaction force against a forced displacement. The results show the controllable actuation angle and the blocked force up to 23.7• and 2.4 mN in the soft state, and 0.6• and 2.1 mN in the rigid state. Compared to an actuator without the LMPA, VSDEA exhibits ∼90× higher rigidity. We develop a VSDEA gripper where the mass of active parts is ∼2 g, which is able to successfully hold an object mass of 11 g, exhibiting the high performance of the actuator.

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“…The experimental setup used here is a modified version of a soft planar robotic arm used for kinematic motions within confined environments [32] and autonomous object manipulation [33]. The version of the soft robot used here is composed of five bidirectional segments with inflatable cavities.…”

Section: A Experimental Setupmentioning

confidence: 99%