Details
| Original language | English |
|---|---|
| Pages (from-to) | 1-8 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 9 |
| Issue number | 6 |
| Publication status | Published - 15 Apr 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.
Keywords
- Actuators, Bellows, Cables, Electron tubes, Hydraulic/Pneumatic Actuators, Pneumatic systems, Robots, Soft Robot Materials and Design, Soft robotics, Soft Sensors and Actuators
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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In: IEEE Robotics and Automation Letters, Vol. 9, No. 6, 15.04.2024, p. 1-8.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - SPONGE: 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
PY - 2024/4/15
Y1 - 2024/4/15
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
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 - 1
EP - 8
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 6
ER -