Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation
© Springer-Verlag Berlin Heidelberg 2014. 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 mac...
| Main Authors: | , , , , |
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| Format: | Book |
| Language: | English |
| Published: |
Springer Berlin Heidelberg
2021
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| Online Access: | https://hdl.handle.net/1721.1/137188 |
| _version_ | 1811082610536873984 |
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| author | Correll, Nikolaus Önal, Çağdaş D. Liang, Haiyi Schoenfeld, Erik Rus, Daniela |
| author_facet | Correll, Nikolaus Önal, Çağdaş D. Liang, Haiyi Schoenfeld, Erik Rus, Daniela |
| author_sort | Correll, Nikolaus |
| collection | MIT |
| description | © Springer-Verlag Berlin Heidelberg 2014. 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 algorithmsmay 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. |
| first_indexed | 2024-09-23T12:06:09Z |
| format | Book |
| id | mit-1721.1/137188 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T12:06:09Z |
| publishDate | 2021 |
| publisher | Springer Berlin Heidelberg |
| record_format | dspace |
| spelling | mit-1721.1/1371882021-11-04T03:23:37Z Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation Correll, Nikolaus Önal, Çağdaş D. Liang, Haiyi Schoenfeld, Erik Rus, Daniela © Springer-Verlag Berlin Heidelberg 2014. 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 algorithmsmay 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. 2021-11-03T14:22:07Z 2021-11-03T14:22:07Z 2014 2019-07-17T12:49:37Z Book http://purl.org/eprint/type/ConferencePaper 1610-7438 1610-742X https://hdl.handle.net/1721.1/137188 Correll, Nikolaus, Önal, Çağdaş D., Liang, Haiyi, Schoenfeld, Erik and Rus, Daniela. 2014. "Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation." en 10.1007/978-3-642-28572-1_16 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Springer Berlin Heidelberg MIT web domain |
| spellingShingle | Correll, Nikolaus Önal, Çağdaş D. Liang, Haiyi Schoenfeld, Erik Rus, Daniela Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation |
| title | Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation |
| title_full | Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation |
| title_fullStr | Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation |
| title_full_unstemmed | Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation |
| title_short | Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation |
| title_sort | soft autonomous materials using active elasticity and embedded distributed computation |
| url | https://hdl.handle.net/1721.1/137188 |
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