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Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation

  • Nikolaus CorrellEmail author
  • Çağdaş D. Önal
  • Haiyi Liang
  • Erik Schoenfeld
  • Daniela Rus
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)

Abstract

The impressive agility of living systems seems to stem from modular sensing, actuation and communication capabilities, as well as intelligence embedded in the mechanics in the form of active compliance. As a step towards bridging the gap between man-made machines and their biological counterparts, we developed a class of soft mechanisms that can undergo shape change and locomotion under pneumatic actuation. Sensing, computation, communication and actuation are embedded in the material leading to an amorphous, soft material. Soft mechanisms are harder to control than stiff mechanisms as their kinematics are difficult to model and their degrees of freedom are large. Here we show instances of such mechanisms made from identical cellular elements and demonstrate shape changing, and autonomous, sensor-based locomotion using distributed control. We show that the flexible system is accurately modeled by an equivalent spring-mass model and that shape change of each element is linear with applied pressure. We also derive a distributed feedback control law that lets a belt-shaped robot made of flexible elements locomote and climb up inclinations. These mechanisms and algorithms may provide a basis for creating a new generation of biomimetic soft robots that can negotiate openings and manipulate objects with an unprecedented level of compliance and robustness.

Keywords

Dielectric Elastomer Soft Mechanism Expansion Strain Soft Robot Active Elasticity 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  • Nikolaus Correll
    • 1
    Email author
  • Çağdaş D. Önal
    • 2
  • Haiyi Liang
    • 3
  • Erik Schoenfeld
    • 4
  • Daniela Rus
    • 2
  1. 1.Department of Computer ScienceUniversity of Colorado at BoulderBoulderUSA
  2. 2.Computer Science and Artificial Intelligence LaboratoryMassachusetts Institute of TechnologyCambridgeUSA
  3. 3.School of Engineering and Applied SciencesHarvard UniversityCambridgeUSA
  4. 4.iRobot Inc.BedfordUSA

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