Details
Originalsprache | Englisch |
---|---|
Seiten (von - bis) | 5346-5353 |
Seitenumfang | 8 |
Fachzeitschrift | IEEE Robotics and Automation Letters |
Jahrgang | 9 |
Ausgabenummer | 6 |
Frühes Online-Datum | 15 Apr. 2024 |
Publikationsstatus | Veröffentlicht - Juni 2024 |
Abstract
Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If the designs were uniform and open source, validating researched methods on real benchmark systems would be possible. To address this, we present two variants of a soft pneumatic robot with antagonistic bellows as open source. Starting from a semi-modular design with multiple cables and tubes routed through the robot body, the transition to a fully modular robot with integrated microvalves and serial communication is highlighted. Modularity in terms of stackability, actuation, and communication is achieved, which is the crucial requirement for building soft robots with many degrees of freedom and high dexterity for real-world tasks. Both systems are compared regarding their respective advantages and disadvantages. The robots' functionality is demonstrated in experiments on airtightness, gravitational influence, position control with mean tracking errors of <3 deg, and long-term operation of cast and printed bellows.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Ingenieurwesen (insg.)
- Biomedizintechnik
- Informatik (insg.)
- Mensch-Maschine-Interaktion
- Ingenieurwesen (insg.)
- Maschinenbau
- Informatik (insg.)
- Maschinelles Sehen und Mustererkennung
- Informatik (insg.)
- Angewandte Informatik
- Mathematik (insg.)
- Steuerung und Optimierung
- Informatik (insg.)
- Artificial intelligence
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
in: IEEE Robotics and Automation Letters, Jahrgang 9, Nr. 6, 06.2024, S. 5346-5353.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - SPONGE
T2 - Open-Source Designs of Modular Articulated Soft Robots
AU - Habich, Tim Lukas
AU - Haack, Jonas
AU - Belhadj, Mehdi
AU - Lehmann, Dustin
AU - Seel, Thomas
AU - Schappler, Moritz
N1 - Publisher Copyright: © 2016 IEEE.
PY - 2024/6
Y1 - 2024/6
N2 - Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If the designs were uniform and open source, validating researched methods on real benchmark systems would be possible. To address this, we present two variants of a soft pneumatic robot with antagonistic bellows as open source. Starting from a semi-modular design with multiple cables and tubes routed through the robot body, the transition to a fully modular robot with integrated microvalves and serial communication is highlighted. Modularity in terms of stackability, actuation, and communication is achieved, which is the crucial requirement for building soft robots with many degrees of freedom and high dexterity for real-world tasks. Both systems are compared regarding their respective advantages and disadvantages. The robots' functionality is demonstrated in experiments on airtightness, gravitational influence, position control with mean tracking errors of <3 deg, and long-term operation of cast and printed bellows.
AB - Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If the designs were uniform and open source, validating researched methods on real benchmark systems would be possible. To address this, we present two variants of a soft pneumatic robot with antagonistic bellows as open source. Starting from a semi-modular design with multiple cables and tubes routed through the robot body, the transition to a fully modular robot with integrated microvalves and serial communication is highlighted. Modularity in terms of stackability, actuation, and communication is achieved, which is the crucial requirement for building soft robots with many degrees of freedom and high dexterity for real-world tasks. Both systems are compared regarding their respective advantages and disadvantages. The robots' functionality is demonstrated in experiments on airtightness, gravitational influence, position control with mean tracking errors of <3 deg, and long-term operation of cast and printed bellows.
KW - Actuators
KW - Bellows
KW - Cables
KW - Electron tubes
KW - Hydraulic/Pneumatic Actuators
KW - Pneumatic systems
KW - Robots
KW - Soft Robot Materials and Design
KW - Soft robotics
KW - Soft Sensors and Actuators
KW - Soft robot materials and design
KW - soft sensors and actuators
KW - hydraulic/pneumatic actuators
UR - http://www.scopus.com/inward/record.url?scp=85190726145&partnerID=8YFLogxK
U2 - 10.48550/arXiv.2404.10734
DO - 10.48550/arXiv.2404.10734
M3 - Article
AN - SCOPUS:85190726145
VL - 9
SP - 5346
EP - 5353
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 6
ER -