Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedCVT8 Gemini 1 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 11:00–12:30<br />
Soft Robots<br />
Chair Sungchul Kang, Korea Inst. of Science & Tech.<br />
Co-Chair Barbara Mazzolai, Istituto Italiano di Tecnologia<br />
11:00–11:15 WedCVT8.1<br />
Innovative Soft Robots Based on Electro-<br />
Rheological Fluids<br />
Ali Sadeghi 1,2 , Lucia Beccai 1 and Barbara Mazzolai 1<br />
1- Center for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia, Italy<br />
2- BioRobotics Institute, Scuola Superiore Sant’Anna,Italy<br />
• Control over the flexibility of soft robots<br />
bodies by controlling the ER fluid flow in<br />
soft elements of robot body<br />
• Electro-rheological (ER) fluids are smart<br />
fluids which can transform into solid-like<br />
phase by applying an electric field<br />
• Simplifying the hydraulic circuits in<br />
hydraulic based soft robots due to the<br />
simple design of ER valves<br />
• Using ER based hydraulic actuators for<br />
soft robotics applications<br />
Rubber bellows<br />
Rubber bellows<br />
ER Valves<br />
Backward ERF flow<br />
Forward ERF flow<br />
11:30–11:45 WedCVT8.3<br />
ER valves<br />
Tendon<br />
s<br />
bellows<br />
Design of a Tubular Snake-like Manipulator with<br />
Stiffening Capability by Layer Jamming<br />
Yong-Jae Kim<br />
Samsung Advanced Institute of Technology, Samsung Electronics Co., Korea<br />
Shanbao Cheng<br />
Direct Drive Systems, FMC Technologies, USA<br />
Sangbae Kim, and Karl Iagnemma<br />
Mechanical Engineering Dept., Massachusetts Institute of Technology, USA<br />
• Design of a hollow snake-like<br />
manipulator using layer jamming<br />
mechanism having tunable stiffness<br />
capability.<br />
• The proposed layer jamming<br />
mechanism is composed of multiple<br />
layers of thin film which make use of<br />
amplified friction between the films<br />
by applying vacuum pressure.<br />
• It has highly flexible and underactuated<br />
properties without vacuum;<br />
however, it becomes highly stiff<br />
when a vacuum is applied.<br />
Layer Jamming<br />
Manipulator having<br />
Stiffening Capability<br />
Actuation and<br />
Transmission System<br />
Hollow Snake-like Manipulator<br />
Closed up View of Tubular Shape<br />
12:00–12:15 WedCVT8.5<br />
Design of Soft Robotic Actuators Using Fluid-<br />
Filled Fiber-Reinforced Elastomeric Enclosures<br />
in Parallel Combinations<br />
Joshua Bishop-Moser, Girish Krishnan and Sridhar Kota<br />
Mechanical Engineering, University of Michigan, Ann Arbor, USA<br />
Charles Kim<br />
Mechanical Engineering, Bucknell University, USA<br />
• Fiber-Reinforced Elastomeric Enclosures<br />
(FREEs) that can perform translation,<br />
bending, rotation, and screw motions.<br />
• Mobility for all single and parallel<br />
combinations determined from geometry.<br />
• Experimental verification of predicted<br />
actuation directions.<br />
• Provides a key building block for soft<br />
robots and dexterous manipulators.<br />
Deformation of a parallel FREE under<br />
multiple actuation permutations<br />
11:15–11:30 WedCVT8.2<br />
Detailed Dynamics Modeling of BioBiped’s<br />
Monoarticular and Biarticular Tendon-Driven<br />
Actuation System<br />
Katayon Radkhah, Thomas Lens, and Oskar von Stryk<br />
Department of Computer Science, TU Darmstadt, Germany<br />
• Detailed mathematical models of the<br />
active and passive, mono- and biarticular<br />
structures of the BioBiped1 robot<br />
• Enable a systematic analysis of the design<br />
space and characteristic curves<br />
• Basis to study the effects of the<br />
musculoskeletal actuation system<br />
• Evaluation of actuator models by MBS<br />
dynamics simulations for 1D hopping with<br />
regard to various performance criteria<br />
11:45–12:00 WedCVT8.4<br />
Adaptive Bipedal Walking through Sensory-motor<br />
Coordination Yielded from Soft Deformable Feet<br />
Dai Owaki and Hiroki Fukuda<br />
Research Institute of Electrical Communication, Tohoku University, Japan<br />
Akio Ishiguro<br />
Research Institute of Electrical Communication, Tohoku University, Japan<br />
CREST, The Japan Science and Technology Agency, Japan<br />
• Adaptive bipedal walking control that<br />
exploits sensory information stemming<br />
from “soft deformable” feet.<br />
• An unconventional CPG-based control that<br />
exploits local force feedback generated<br />
from such deformation.<br />
• Remarkably adaptive walking ability in<br />
response to a change in walking velocity<br />
and external perturbations.<br />
• Deformation of robot’s body plays a pivotal<br />
role in the emergence of “sensory-motor<br />
coordination”.<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–149–<br />
Bipedal robot with soft<br />
deformable feet<br />
12:15–12:20 WedCVT8.6<br />
Intrinsically Elastic Robots: The Key to Human-<br />
Like Performance<br />
S. Haddadin, F. Huber, K. Krieger, R. Weitschat, A. Albu-Schäffer, S.<br />
Wolf, W. Friedl, M. Grebenstein, F. Petit, J. Reinecke, R. Lampariello<br />
Robotics and Mechatronics Center<br />
• Exploiting inherent capabilities for<br />
dynamic motions of VSA robots based on<br />
temporary energy storage<br />
• Come closer to human-like performance<br />
in terms of speed, robustness, and safety<br />
• Model based approaches for optimal<br />
excitation and explicit use of elastic<br />
energy tanks<br />
• Framework for generating dynamic nearoptimal<br />
motions in real-time<br />
• Framework can be used not only for<br />
explosive or cyclic motion, but also for<br />
classical tracking or reaching tasks.<br />
Safe interaction Cyclic manipulation<br />
Explosive motions<br />
Optimality in real-time