Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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