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检索条件"机构=WPI Soft Robotics Laboratory"

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SURF-COM: An Open Source Acoustic Controller for soft Underwater Robots

SURF-COM: An Open Source Acoustic Controller for Soft Underw...

引用

IEEE International Conference on soft robotics (Robosoft)

作者： Natalie Essig Brighton Lee Robin Hall Cagdas D. Onal WPI Soft Robotics Laboratory Robotics Engineering Department Worcester Polytechnic Institute MA USA

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Underwater untethered communication tends to require expensive, heavy, large, or complicated custom solutions. For soft underwater robots, we need a small, light, inexpensive, and reliable framework to send commands, especially when going into delicate underwater environments where a diver operator may need to keep a distance. This paper introduces SURF-COM (Simple Underwater Robotic Framework for Communication), an open-source acoustic controller for underwater robots. Made from entirely off-the-shelf components, this controller can easily be integrated into any underwater robot and was tested here on a soft vectored underwater vehicle (VUV). The controller uses basic frequencies to signal different commands for the robot, controlling its direction and speed. It has a maximum tested range (lateral distance between transmitter and receiver) of 45 m and can operate at up to 5 m in depth (distance of both transmitter and receiver from the surface of the water). It has a response time of 0.167 s. The controller is compact and packaged into a user-friendly, intuitive interface. We operated the robot, untethered, in various environments to test the robustness of the controller and analyze its performance.

关键词： Autonomous underwater vehicles Sea surface Transmitters Receivers soft robotics Reliability engineering Acoustics Robustness Time factors Testing

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Untethered Underwater soft Robot with Thrust Vectoring

Untethered Underwater Soft Robot with Thrust Vectoring

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Robin Hall Cagdas D. Onal Robotics Engineering Department WPI Soft Robotics Laboratory Worcester Polytechnic Institute MA USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper introduces DRAGON: Deformable Robot for Agile Guided Observation and Navigation, a free-swimming deformable impeller-powered vectored underwater vehicle (VUV). A 3D-printed wave spring structure directs the water drawn through the center of the robot by an impeller, enabling it to move smoothly in different directions. The robot is designed to have a narrow cylindrical profile to lower drag and improve agility. It has a maximum recorded speed of 2.1 BL/s (body lengths per second) and a minimum cost of transport (COT) of 2.9. The robot has two degrees of freedom (DoFs) and is capable of performing a variety of maneuvers including a full circle with a radius of 0.23 m (1.4 BL) and a figure eight, which it completed in 4.98 s (72.3 °/s) and 10.74 s respectively. We operated the robot, untethered, in various environments to test the robustness of the design and analyze its motion and performance.

关键词： Space vehicles Autonomous underwater vehicles Impellers Tail soft robotics Springs Robots

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Design and Testing of a Multi-Module, Tetherless, soft Robotic Eel

Design and Testing of a Multi-Module, Tetherless, Soft Robot...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Robin Hall Gabriel Espinosa Shou-Shan Chiang Cagdas D. Onal Robotics Engineering Department WPI Soft Robotics Laboratory Worcester Polytechnic Institute MA USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a free-swimming, tetherless, cable-driven modular soft robotic fish. The body comprises a series of 3D-printed wave spring structures that create a flexible biologically inspired shape that is capable of an anguilliform swimming gait. A three-module soft robotic fish was designed, fabricated, and evaluated. The motion of the robot was characterized and different combinations of actuation amplitude, frequency, and phase shift were determined experimentally to determine the optimal parameters that maximized speed and minimized the cost of transport (COT). The maximum speed recorded was 0.20 BL/s (body lengths per second) with a COT of 15.82. These results were compared against other robotic and biological fish. We operated the robot, untethered, in a variety of environments to test how it was able to function outside of laboratory settings.

关键词： Shape Tail soft robotics Fish Motors Biology Robustness

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Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments

Salamanderbot: A soft-rigid composite continuum mobile robot...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yinan Sun Yuqi Jiang Hao Yang Louis-Claude Walter Junius Santoso Erik H. Skorina Cagdas Onal WPI Soft Robotics Laboratory Worcester Polytechnic Institute MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

soft robots are theoretically well-suited to rescue and exploration applications where their flexibility allows for the traversal of highly cluttered environments. However, most existing mobile soft robots are not fast or powerful enough to effectively traverse three dimensional environments. In this paper, we introduce a new mobile robot with a continuously deformable slender body structure, the SalamanderBot, which combines the flexibility and maneuverability of soft robots, with the speed and power of traditional mobile robots. It consists of a cable-driven bellows-like origami module based on the Yoshimura crease pattern mounted between sets of powered wheels. The origami structure allows the body to deform as necessary to adapt to complex environments and terrains, while the wheels allow the robot to reach speeds of up to 303.1 mm/s (2.05 body-length/s). Salamanderbot can climb up to 60-degree slopes and perform sharp turns with a minimum turning radius of 79.9 mm (0.54 body-length).

关键词： Mobile robots Wheels Gears Manipulators DC motors Kinematics

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Kinematic Optimization of an Underactuated Anthropomorphic Prosthetic Hand

Kinematic Optimization of an Underactuated Anthropomorphic P...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Ann Marie Votta Sezen Yağmur Günay Brian Zylich Erik Skorina Raagini Rameshwar Deniz Erdoğmuş Cagdas D. Onal WPI Soft Robotics Laboratory Worcester Polytechnic Institute MA USA Cognitive Systems Lab Northeastern University MA USA College of Information and Computer Sciences University of Massachusetts Amherst MA USA

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

The human hand serves as an inspiration for robotic grippers. However, the dimensions of the human hand evolved under a different set of constraints and requirements than that of robots today. This paper discusses a method of kinematically optimizing the design of an anthropomorphic robotic hand. We focus on maximizing the workspace intersection of the thumb and the other fingers as well as maximizing the size of the largest graspable object. We perform this optimization and use the resulting dimensions to construct a flexible, underactuated 3D printed prototype. We verify the results of the optimization through experimentation, demonstrating that the optimized hand is capable of grasping objects ranging from less than 1 mm to 12.8 cm in diameter with a high degree of reliability. The hand is lightweight and inexpensive, weighing 333 g and costing less than 175 USD, and strong enough to lift over 1.1 lb (500 g). We demonstrate that the optimized hand outperforms an open-source 3D printed anthropomorphic hand on multiple tasks. Finally, we demonstrate the performance of our hand by employing a classification-based user intent decision system which predicts the grasp type using real-time electromyographic (EMG) activity patterns.

关键词： Three-dimensional displays Thumb Prototypes Real-time systems Reliability Task analysis Optimization

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