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Designing 3D-printed concrete structures with scaled fabrication models

Architectural Intelligence 2024年第1期3卷 1-16页

作者： Zhi, Yefan Teng, Teng Akbarzadeh, Masoud Polyhedral Structures Laboratory School of Design University of Pennsylvania Philadelphia USA Automation Sensing and Perception (GRASP) Lab School of Engineering and Applied Science General Robotic UniversityofPennsylvania Philadelphia USA

This article proposes using scaled fabrication models to assist the design research of 3D-printed discrete concrete structures where full-scale fabrication tests are costly and time-consuming. A scaled fabrication model (SFM) is a scaled model 3D-printed the same way as in actual construction to reflect its fabrication details and acquire alike layer line textures. The components of a 1:10 SFM can be eas- ily produced by consumer-level desktop 3D printers with minimal modification. SFMs assist the design communication and make possible quick tests of dis- tinct fabrication designs that are hard to assess in digital modeling [Response to 1.1] during the conceptual design phase. A case study of a discrete compression- dominant funicular floor derived from graphic statics is presented to illustrate the contribution of SFM to the design research of force-informed toolpathing where the printing direction of a component is aligned to the principal stress line. The design iterations encompass a sequence of component, partial, and full model SFM printing tests to explore and optimize the fabrication schemes where par- allel, non-parallel, and creased slicing methods to create toolpaths are compared and chosen to adapt different discrete components.

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Design and Control of a Tunable-Stiffness Coiled-Spring Actuator

Design and Control of a Tunable-Stiffness Coiled-Spring Actu...

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IEEE International Conference on robotics and automation (ICRA)

作者： Shivangi Misra Mason Mitchell Rongqian Chen Cynthia Sung General Robotics Automation Sensing & Perception (GRASP) Lab University of Pennsylvania Philadelphia PA USA Soft Robotics Lab Worcester Polytechnic Institute Worcester MA USA

We propose a novel design for a lightweight and compact tunable stiffness actuator capable of stiffness changes up to 20x. The design is based on the concept of a coiled spring, where changes in the number of layers in the spring change the bulk stiffness in a near linear fashion. We present an elastica nested rings model for the deformation of the proposed actuator and empirically verify that the designed stiffness-changing spring abides by this model. Using the resulting model, we design a physical prototype of the tunable-stiffness coiled-spring actuator and discuss the effect of design choices on the resulting achievable stiffness range and resolution. In the future, this actuator design could be useful in a wide variety of soft robotics applications, where fast, controllable, and local stiffness change is required over a large range of stiffnesses.

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Identifying Driver Interactions via Conditional Behavior Prediction

Identifying Driver Interactions via Conditional Behavior Pre...

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IEEE International Conference on robotics and automation (ICRA)

作者： Ekaterina Tolstaya Reza Mahjourian Carlton Downey Balakrishnan Vadarajan Benjamin Sapp Dragomir Anguelov General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Waymo

Interactive driving scenarios, such as lane changes, merges and unprotected turns, are some of the most challenging situations for autonomous driving. Planning in interactive scenarios requires accurately modeling the reactions of other agents to different future actions of the ego agent. We develop end-to-end models for conditional behavior prediction (CBP) that take as an input a query future trajectory for an ego-agent, and predict distributions over future trajectories for other agents conditioned on the query. Leveraging such a model, we develop a general-purpose agent interactivity score derived from probabilistic first principles. The interactivity score allows us to find interesting interactive scenarios for training and evaluating behavior prediction models. We further demonstrate that the proposed score is effective for agent prioritization under computational budget constraints.

关键词： Training automation Computational modeling Conferences Predictive models Probabilistic logic Trajectory

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Integrable Whole-Body Orientation Coordinates for Legged Robots

Integrable Whole-Body Orientation Coordinates for Legged Rob...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yu-Ming Chen Gabriel Nelson Robert Griffin Michael Posa Jerry Pratt General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA Boardwalk Robotics Pensacola FL Boston Dynamics Artificial Intelligence Institute Cambridge MA Florida Institute for Human and Machine Cognition (IHMC) Pensacola FL USA

Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a whole-body orientation that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the entire system while not being attached to any specific link, and (iii) has a rate of change that approximates total system angular momentum. We relate this orientation coordinate to past work, and discuss and demonstrate, including on hardware, several different uses for it.

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Exploring EEG Responses During Observation of Actions Performed by Human Actor and Humanoid Robot

Exploring EEG Responses During Observation of Actions Perfor...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Anh T. Nguyen Ajay Anand Michelle J. Johnson Department of Bioengineering School of Science and Applied Science University of Pennsylvania Philadelphia PA USA Rehab Robotics Lab under the General Robotics Automation Sensing & Perception Lab (GRASP Lab) University of Pennsylvania Philadelphia PA USA Department of Physical Medicine and Rehabilitation and BioEngineering. She directs the Rehab Robotics Lab (A GRASP Lab) University of Pennsylvania Philadelphia PA USA

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Action observation (AO) therapy is a promising rehabilitative treatment for motor and language function in individuals recovering from neurological conditions, such as stroke. This pilot study aimed to investigate the potential of hu-manoid robots to support AO therapy in rehabilitation settings. The brain activity of three healthy right-handed participants was monitored with electroencephalography (EEG) while they observed eight different actions performed by two agents, a human actor and a robot, using their left and right arms. Their event-related spectral perturbations (ERSPs, changes in the spectral power of neural oscillations in response to an event or stimulus, compared to baseline) in sensorimotor regions were analyzed. The single-subject analysis showed variability in ERSP patterns among all participants, including power sup-pression in sensorimotor mu and beta rhythms. One participant showed stronger responses to “robot” AO conditions than to “human” conditions. Strong and positive correlations in ERSP across all conditions were observed for almost all participants and channels, implying common cognitive processes or neural networks at play in the mirror neuron system during AO. The results support the feasibility of using EEG to explore differences in neural responses to observation of robot- and human-induced actions.

关键词： Correlation Perturbation methods Neurons Neural activity Medical treatment Stroke (medical condition) Robot sensing systems Motors Electroencephalography Robots

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Soft Hybrid Aerial Vehicle via Bistable Mechanism

Soft Hybrid Aerial Vehicle via Bistable Mechanism

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IEEE International Conference on robotics and automation (ICRA)

作者： Xuan Li Jessica McWilliams Minchen Li Cynthia Sung Chenfanfu Jiang SIG Center for Computer Graphics University of California Los Angeles General Robotics Automation Sensing & Perception (GRASP) Lab University of Pennsylvania

Unmanned aerial vehicles have been demonstrated successfully in a variety of tasks, including surveying and sampling tasks over large areas. These vehicles can take many forms. Quadrotors’ agility and ability to hover makes them well suited for navigating potentially tight spaces, while fixed wing aircraft are capable of efficient flight over long distances. Hybrid aerial vehicles (HAVs) attempt to achieve both of these benefits by exhibiting multiple modes; however, morphing HAVs typically require extra actuators which add mass, reducing both agility and efficiency. We propose a morphing HAV with folding wings that exhibits both a quadrotor and a fixed wing mode without requiring any extra actuation. This is achieved by leveraging the motion of a bistable mechanism at the center of the aircraft to drive folding of the wing using only the existing motors and the inertia of the system. We optimize both the bistable mechanism and the folding wing using a topology optimization approach. The resulting mechanisms were fabricated on a 3D printer and replaced the frame of an existing quadrotor. Our prototype successfully transitions between both modes and our experiments demonstrate that the behavior of the fabricated prototype is consistent with that of the simulation.

关键词： Three-dimensional displays Conferences Prototypes Aircraft navigation Unmanned aerial vehicles Topology Printers

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Origami-Inspired Bistable Gripper with Self-sensing Capabilities

Origami-Inspired Bistable Gripper with Self-Sensing Capabili...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Christopher Kim Lele Yang Ashwath Anbuchelvan Raghav Garg Niv Milbar Flavia Vitale Cynthia Sung General Robotics Automation Sensing & Perception (GRASP) Lab at the University of Pennsylvania Philadelphia PA USA Department of Neurology Perelman School of Medicine at the University of Pennsylvania Philadelphia PA USA Division of Plastic Surgery Perelman School of Medicine at the University of Pennsylvania Philadelphia PA USA Department of Neurology Bioengineering and Physical medicine and Rehabilitation at the University of Pennsylvania Philadelphia PA USA

An origami-inspired bistable gripper, featuring a dual-function custom PET linear solenoid actuator that acts both as an actuator and a sensor, is presented. Movements in the permanent magnet plunger, which is directly mounted to the gripper, create induced electromotive force (emf) in the solenoid, and these induced emf measurements are used to detect snap-through actions and light contacts on the gripper. The fabrication methods for the gripper, actuator, and a gel-free soft wearable EMG electrode are outlined, and the actuator's self-sensing method utilizing the time-integral of the induced emf measurements are explored. Because a self-sensing actuator eliminates the need for extra sensors, it allows for further miniaturization of the robot while maintaining its compactness and lightweight design. The paper also introduces a full human-in-the-loop system, allowing users to open or close the gripper with their biceps via a wearable EMG electrode. This system bridges human intent with robotic action, offering a more intuitive interaction model for robotic control.

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CurveQuad: A Centimeter-Scale Origami Quadruped that Leverages Curved Creases to Self-Fold and Crawl with One Motor

CurveQuad: A Centimeter-Scale Origami Quadruped that Leverag...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Daniel Feshbach Xuelin Wu Satviki Vasireddy Louis Beardell Bao To Yuliy Baryshnikov Cynthia Sung General Robotics Automation Sensing & Perception (GRASP) Lab University of Pennsylvania Philadelphia PA USA Princeton Day School Princeton NJ USA Episcopal Academy Newtown Square PA USA Peddie School Hightstown NJ USA Department of Mathematics and Electrical and Computer Engineering University of Illinois Urbana IL USA

We present CurveQuad, a miniature curved origami quadruped that is able to self-fold and unfold, crawl, and steer, all using a single actuator. CurveQuad is designed for planar manufacturing, with parts that attach and stack sequentially on a flat body. The design uses 4 curved creases pulled by 2 pairs of tendons from opposite ends of a link on a 270°servo. It is 8 cm in the longest direction and weighs 10.9 g. Rotating the horn pulls the tendons inwards to induce folding. Continuing to rotate the horn shears the robot, enabling the robot to shuffle forward while turning in either direction. We experimentally validate the robot's ability to fold, steer, and unfold by changing the magnitude of horn rotation. We also demonstrate basic feedback control by steering towards a light source from a variety of starting positions and orientations, and swarm aggregation by having 4 robots simultaneously steer towards the light. The results demonstrate the potential of using curved crease origami in self-assembling and deployable robots with complex motions such as locomotion.

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Optimal Reduced-order Modeling of Bipedal Locomotion

Optimal Reduced-order Modeling of Bipedal Locomotion

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IEEE International Conference on robotics and automation (ICRA)

作者： Yu-Ming Chen Michael Posa General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

State-of-the-art approaches to legged locomotion are widely dependent on the use of models like the linear inverted pendulum (LIP) and the spring-loaded inverted pendulum (SLIP), popular because their simplicity enables a wide array of tools for planning, control, and analysis. However, they inevitably limit the ability to execute complex tasks or agile maneuvers. In this work, we aim to automatically synthesize models that remain low-dimensional but retain the capabilities of the high-dimensional system. For example, if one were to restore a small degree of complexity to LIP, SLIP, or a similar model, our approach discovers the form of that additional complexity which optimizes performance. In this paper, we define a class of reduced-order models and provide an algorithm for optimization within this class. To demonstrate our method, we optimize models for walking at a range of speeds and ground inclines, for both a five-link model and the Cassie bipedal robot.

关键词： Task analysis Legged locomotion Reduced order systems Lips Trajectory optimization

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Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators

Coordinate-Free Dynamics and Differential Flatness of a Clas...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jake Welde Vijay Kumar General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this work, we derive a coordinate-free formulation of the coupled dynamics of a class of 6DOF aerial manipulators consisting of an underactuated quadrotor equipped with a 2DOF articulated manipulator, and demonstrate that the system is differentially flat with respect to the end effector pose. In particular, we require the center of mass of the entire system to be fixed in the end effector frame, suggesting a reasonable mechanical design criterion. We make use of an inertial decoupling transformation to demonstrate differential flatness, allowing us to plan dynamically feasible trajectories for the system in the space of the 6DOF pose of the end effector, which is ideal for achieving precise manipulator tasks. Simulation results validate the flatness-based planning methodology for our dynamic model, and its usefulness is demonstrated in a simulated aerial videography task.

关键词： Manipulator dynamics End effectors Trajectory Task analysis Planning Vehicle dynamics

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