NRI: FND: Computational and Interactive Design of Soft Growing Robot Manipulators

NRI：FND：软体生长机器人操纵器的计算和交互设计

• 批准号: 2024247
• 负责人: Allison Okamura
• 金额: $ 75万
• 依托单位: Stanford University
• 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=2024247&HistoricalAwards=false
• 关键词: NRI; FND; Computational; Interactive; Design

This project will contribute to the development of new soft robot manipulators that can assist people with limited physical abilities in their activities of daily living in the home. Soft robots are made of flexible and stretchable materials configured to increase human safety, lower cost, and mechanically adapt to their environments, which are significant advantages compared to traditional, rigid robots. However, today's soft robots are far from capable of performing household manipulation tasks; they have limited dexterity and cannot handle the weight of many objects encountered in daily life. This award supports research to develop novel mechanisms and design tools in order to create soft robots that seamlessly integrate into homes and provide needed assistance. This project aims to improve human health and quality of life by (1) assisting people with limited physical abilities in their homes, (2) lowering the cost of robot manipulators, toward making robots accessible to a wide spectrum of users, and (3) promoting human safety through controllable mechanical compliance and robustness. These features are important to improve equity in access to technology, especially in scenarios where physical distancing between humans is required. This interdisciplinary project integrates mechanical engineering and computer science, and the project will educate a diverse group of students in classes and research in order to broaden participation in STEM.This project will develop a modular set of new soft robot components that capitalize on previously developed steerable, tip-extending inflated beams: continuum links, variable stiffness control, and variable discrete joints. Each component contributes a valuable capability toward 3D manipulation. Because the process of specifying and combining these components in order to create a robot to achieve a particular task is too difficult for human designers to effectively navigate, the research team will create simulation and planning software. This software will enable a computational design process considering inverse kinematics, inverse dynamics, and trajectory optimization to develop both the overall design and the real-time control strategy. In the simulation and planning environment, users who are not robotics experts will be able to specify the critical tasks, test the ability of the robot to achieve the specified tasks as well as new tasks, and influence the design to be compatible with their needs. The effectiveness of this approach will be demonstrated through user studies and the implementation of a variety of inflated-beam soft 3D robot manipulators that perform different household tasks.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.

该项目将有助于开发新型软体机器人操纵器，帮助身体能力有限的人进行家庭日常生活活动。软机器人由柔性和可拉伸的材料制成，可提高人类安全性、降低成本并在机械上适应环境，与传统的刚性机器人相比，这是显着的优势。然而，当今的软机器人还远远不能胜任家庭操作任务。他们的灵活性有限，无法承受日常生活中遇到的许多物体的重量。该奖项支持开发新颖机制和设计工具的研究，以创建能够无缝融入家庭并提供所需帮助的软机器人。该项目旨在通过以下方式改善人类健康和生活质量：(1) 在家中帮助身体能力有限的人，(2) 降低机器人操纵器的成本，使机器人可供广泛的用户使用，(3)通过可控的机械合规性和稳健性来促进人类安全。这些功能对于提高技术获取的公平性非常重要，特别是在需要人与人之间保持身体距离的情况下。这个跨学科项目整合了机械工程和计算机科学，该项目将在课堂和研究中教育不同的学生群体，以扩大对 STEM 的参与。该项目将开发一套模块​​化的新型软体机器人组件，这些组件将利用先前开发的可操纵机器人组件、尖端延伸充气梁：连续体连接、可变刚度控制和可变离散接头。每个组件都为 3D 操作提供了宝贵的功能。由于指定和组合这些组件以创建机器人来完成特定任务的过程对于人类设计师来说太困难而无法有效导航，因此研究团队将创建模拟和规划软件。该软件将实现考虑逆运动学、逆动力学和轨迹优化的计算设计过程，以开发总体设计和实时控制策略。在仿真和规划环境中，非机器人专家的用户将能够指定关键任务，测试机器人完成指定任务以及新任务的能力，并影响设计以使其符合他们的需求。该方法的有效性将通过用户研究和执行不同家庭任务的各种充气梁软 3D 机器人操纵器的实施来证明。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力评估进行评估，被认为值得支持。优点和更广泛的影响审查标准。

项目成果

A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes

使用夹紧双稳态胶带的轻质、高延伸、平面三自由度机械臂

• DOI: 10.1109/icra46639.2022.9811976
• 发表时间: 2021-10-19
• 期刊: 2022 International Conference on Robotics and Automation (ICRA)
• 作者: Brian H. Do;O. G. Osele;A. Okamura
• 通讯作者: A. Okamura

Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots

多弯曲生长充气梁机器人的被动形状锁定

• DOI: 10.1109/robosoft55895.2023.10122027
• 发表时间: 2023-01
• 期刊: IEEE International Conference on Soft Robotics (RoboSoft
• 作者: Jitosho, Rianna;Simón;Okamura, Allison M.;Do, Brian H.
• 通讯作者: Do, Brian H.

CIRCLE: Capture in Rich Contextual Environments

CIRCLE：在丰富的语境环境中捕捉

• 发表时间: 2023-01
• 期刊: IEEE Conference on Computer Vision and Pattern Recognition
• 作者: J. Araujo; J. Li
• 通讯作者: J. Li

Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots

充气梁软体生长机器人通用执行器布线的几何解决方案

• DOI: 10.1109/tro.2021.3115230
• 发表时间: 2022-06
• 期刊: IEEE Transactions on Robotics
• 影响因子: 7.8
• 作者: Blumenschein, Laura H.;Koehler, Margaret;Usevitch, Nathan S.;Hawkes, Elliot Wright;Rucker, D. Caleb;Okamura, Allison M.
• 通讯作者: Okamura, Allison M.

A Dynamics Simulator for Soft Growing Robots

软体生长机器人的动力学模拟器

• DOI: 10.1109/icra48506.2021.9561420
• 发表时间: 2021-05
• 期刊: IEEE International Conference on Robotics and Automation
• 作者: Jitosho, Rianna;Agharese, Nathaniel;Okamura, Allison;Manchester, Zac
• 通讯作者: Manchester, Zac