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首页> 外文会议>2018 IEEE International Conference on Soft Robotics >Leveraging fluid resistance in soft robots
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Leveraging fluid resistance in soft robots

机译：利用软机器人中的流体阻力

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A key advantage to Fluidic Elastomer Actuators (FEA) is that they permit easy fabrication of robots capable of sophisticated manipulation and mobility. This advantage arises primarily from the continuous stretching and relaxation of elastomeric material that defines an active degree of freedom (DOF), prescribed during the manufacturing process. While the low elastic moduli of the soft material allows for infinite passive DOFs, each active DOF typically requires a valve and/or pump. On-board valving adds weight and size to the robots, and off-board valving requires tubing that imparts resistance to flow and requires higher pressure differentials for reasonable actuation velocities. In contrast to these methods, the work presented here exploits fluidic resistance in poroelastic foam actuators to create a traveling wave using only a single valve and pressure inlet. This concept is evaluated with respect to foam volume and fluid viscosity, and further demonstrated in a three-legged robot capable of millipede-inspired locomotion. The robot is capable of traveling at ~1.1 mm/s, with individual legs (closest to the inlet) extending 41.28, 27.36, and 12.95 mm. These results represents an important step towards increasingly complex behavior in soft robots that remain simple to fabricate and control.
机译：流体弹性体致动器（FEA）的主要优势在于，它们可以轻松制造具有复杂操纵和移动性的机器人。该优点主要来自于弹性材料的连续拉伸和松弛，弹性材料定义了制造过程中规定的有效自由度（DOF）。尽管软材料的低弹性模量允许无限的被动自由度，但每个主动自由度通常都需要一个阀和/或泵。板载阀增加了机器人的重量和尺寸，而板外阀则需要具有流动阻力的管子，并且需要更高的压差才能实现合理的驱动速度。与这些方法相反，本文介绍的工作利用多孔弹性泡沫执行器中的流体阻力仅使用单个阀和压力入口即可产生行波。对这一概念进行了泡沫体积和流体粘度方面的评估，并在能够以千足虫启发运动的三足机器人中得到了进一步证明。该机器人能够以〜1.1 mm / s的速度行进，各条腿（最靠近入口）延伸41.28、27.36和12.95 mm。这些结果代表了朝着使制造和控制变得简单的软机器人越来越复杂的行为迈出的重要一步。

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