Collaborative Research: RI: Medium: Robust Assembly of Compliant Modular Robots

合作研究：RI：中：兼容模块化机器人的稳健组装

基本信息

批准号：
1956027
负责人：
Kostas Bekris
金额：
$ 32.3万
依托单位：
Rutgers University New Brunswick
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2020
资助国家：
美国
起止时间：
2020-10-01 至 2024-09-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1956027&HistoricalAwards=false
关键词：
Collaborative Research RI Medium Robust

项目摘要

This project explores how flexible robots can be designed to move and join together to form larger structures, such as temporary antennas, tent supports, bridges, or tunnel reinforcements. The importance of the project lies in the development of lightweight robots and large-scale systems of robots that can be deployed quickly to form temporary infrastructure. Novel designs of flexible robots, and the hardware and software systems to control them, advance the fields of robotics, automated control, and mechanical design. Societal benefits include humanitarian aid and disaster relief. Disasters ranging from virus outbreaks to coastal storms require quick deployment of infrastructure, such as wireless antennas for restoring communication, scaffolding for restoring power or tents for impromptu patient care. The broader impact of the project will be supported through the development and sharing of open-source design kits and software packages to help with experiment replication and use in hands-on educational activities, as well as interdisciplinary workshops and outreach activities to involve members of underrepresented groups.The design of these robots centers around the principle of tensegrity: structures that contain rigid components that provide structural integrity, and flexible components that distribute forces and allow robots to adapt in shape to their environment. The primary contribution of the project will be an end-to-end exploration of the mechanical designs, state estimation, planning and control systems that enable a novel class of flexible modular robots that deploy and assemble to form larger structures. The project will design tensegrity robots with predictable and capable locomotion capabilities, as well as with docking mechanisms to allow the formation of larger structures from systems of robots. Simulation-driven design will inform what geometric and physical properties modules and resulting structures should and can achieve. The project will explore state estimation techniques that discover the current geometric configuration of flexible robots in contact with each other and the environment. Integrated planning and adaptive control techniques will build on state estimation to allow fine motion skills required for locomotion and docking. The work will be experimentally evaluated at each stage with physical prototype designs that achieve subgoals ranging from first simple locomotion to assembly of flexible structures.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目探讨了如何设计灵活的机器人移动和连接在一起，形成较大的结构，例如临时天线，帐篷支撑，桥梁或隧道增援。该项目的重要性在于可以快速部署的轻量级机器人和大型机器人系统的开发以形成临时基础架构。灵活的机器人的新颖设计以及用于控制它们，推进机器人技术，自动控制和机械设计领域的硬件和软件系统。社会利益包括人道主义援助和救灾。从病毒爆发到沿海风暴的灾难需要快速部署基础设施，例如用于恢复通信的无线天线，用于恢复功率或即兴患者护理的帐篷的脚手架。该项目的更广泛影响将通过开发和共享开源设计套件和软件包来支持实验复制和用于动手的教育活动，以及跨学科的研讨会，以及跨学科的研讨会和外展活动，并涉及不足的群体，这些构造围绕着脉动的组成部分：结构构成的组合：力量并允许机器人适应其环境。该项目的主要贡献将是对机械设计，状态估计，计划和控制系统的端到端探索，该系统使一类新型的灵活模块化机器人可以部署和组装形成更大的结构。该项目将设计具有可预测且功能强大的运动功能的张力机器人，以及对接机制，以允许从机器人系统中形成较大的结构。模拟驱动的设计将告知哪些几何和物理属性模块以及所得的结构应该并且可以实现。该项目将探索状态估计技术，以发现彼此接触的灵活机器人和环境的当前几何配置。综合计划和自适应控制技术将基于州估计，以允许运动和对接所需的精细运动技能。这项工作将在每个阶段通过物理原型设计进行实验评估，这些设计实现了从首次简单运动到柔性结构组装的子目标。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的知识分子优点和更广泛影响的审查标准来评估的。

项目成果

期刊论文数量（7）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

6N-DoF Pose Tracking for Tensegrity Robots

张拉整体机器人的 6N-DoF 位姿跟踪

DOI：
发表时间：
2022
期刊：
The International Symposium of Robotics Research
影响因子：
0
作者：
Lu, Shiyang;Johnson III, William R;Wang, Kun;Huang, Xiaonan;Booth, Joran;Kramer-Bottiglio, Rebecca;Bekris, Kostas
通讯作者：
Bekris, Kostas

StarBlocks: Soft Actuated Self-Connecting Blocks for Building Deformable Lattice Structures

DOI：
10.1109/lra.2023.3284361
发表时间：
2023-08
期刊：
IEEE Robotics and Automation Letters
影响因子：
5.2
作者：
Luyang Zhao;Yijia Wu;Wenzhong Yan;Weishu Zhan;Xiaonan Huang;Joran W. Booth;Ankur M. Mehta;Kostas E. Bekris;Rebecca Kramer‐Bottiglio;Devin J. Balkcom
通讯作者：
Luyang Zhao;Yijia Wu;Wenzhong Yan;Weishu Zhan;Xiaonan Huang;Joran W. Booth;Ankur M. Mehta;Kostas E. Bekris;Rebecca Kramer‐Bottiglio;Devin J. Balkcom

Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots

用于张拉整体机器人的新型数据高效可微物理引擎的 Sim2Sim 评估