Mechanics of Morphological Compensation, and its Application to Sensing and Control of Soft Robots

形态补偿力学及其在软体机器人传感与控制中的应用

基本信息

批准号：
21H01287
负责人：
Ho Anhvan
金额：
$ 11.07万
依托单位：
Japan Advanced Institute of Science and Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2021
资助国家：
日本
起止时间：
2021-04-01 至 2024-03-31
项目状态：
已结题

项目摘要

In the second year, overall, proposed research topics were accelerated with fruitful achievement:1) Ho group has extensively elaborated the morphological compensation strategy for a soft whisker sensor upon being trimmed partly on other task, such as tactile exploration. We demonstrate that changing the morphology of the whisker again helps to reduce mismatching between prior knowledge in the frequency/time domain of the sensory signal. This allows the sensory whisker to recover the tactile perception on texture discrimination after the whisker is partially damaged. In addition, several interactive models on SOFA platforms have been built toward construction of topological change-allowed program, such as cutting/trimming.2) Shibuya and Ho have investigated design feasibility of several soft tactile sensing systems that can change their morphology, especially the magnetorheological (MR) fluid-based soft interfaces with efficient setup. Such systems are suitable for further investigation of morphological compensation.3) Miyako and Ho succeeded in implementation novel actuation for Materially Engineered Flying Object (MEFO)system using corona-discharge phenomenon, which ignites movement of bio- materials in the air.4) Takamura and Ho succeeded on fabrication of patterned structures that morphologically changeable that enhances the tribological properties of soft structures under walking process.

在第二年，总的来说，提出的研究主题以富有成就的成就加速了：1）HO组在部分地阐明了柔软的晶须传感器的形态补偿策略，部分是在其他任务（例如触觉探索）上进行修剪的。我们证明，再次改变晶须的形态有助于减少感觉信号频率/时间域中的先验知识之间的不匹配。这使感觉晶须可以在部分损坏的晶须后恢复纹理歧视的触觉感知。此外，沙发平台上的几种交互式模型已经建立在构建拓扑变更允许程序的构建，例如切割/修剪。2）Shibuya和Ho调查了几种可以改变其形态的软触觉系统的设计可行性，尤其是其形态的可行性。具有高效设置的磁性（MR）基于流体的软接口。这样的系统适合进一步研究形态补偿。3）Miyako和Ho成功地实施了针对经济高级飞行对象（MEFO）系统的新型驱动，该系统使用Corona降低现象，该现象在空气中点燃了生物材料的运动。4）takamura Ho成功地制造了形成性的结构，这种结构在形态上可以改变，从而增强了步行过程中软结构的摩擦学特性。