A Tip-Extending Soft Robot Enables Reconfigurable and Deployable Antennas

Blumenschein, Laura H.; Gan, Lucia T.; Fan, Jonathan A.; Okamura, Allison M.; Hawkes, Elliot W.

doi:10.1109/lra.2018.2793303

Cited by 80 publications

(38 citation statements)

References 21 publications

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“…Due to this mechanism, the eversion robot can grow from a tiny folded-state into a huge unfolded structure. Applications of robots using the eversion principle include antenna reconfiguration [6], wearable haptic devices [7], soft artificial muscles [8], and soft grippers [9].…”

Section: Introductionmentioning

confidence: 99%

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Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Ataka

Abrar

Putzu

et al. 2020

IEEE Robot. Autom. Lett.

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Plant-inspired inflatable eversion robots with their tip growing behaviour have recently emerged. Because they extend from the tip, eversion robots are particularly suitable for applications that require reaching into remote places through narrow openings. Besides, they can vary their structural stiffness. Despite these essential properties which make the eversion robot a promising candidate for applications involving cluttered environments and tight spaces, controlling their motion especially laterally has not been investigated in depth. In this paper, we present a new approach based on model-based kinematics to control the eversion robot's tip position and orientation. Our control approach is based on Euler-Bernoulli beam theory which takes into account the effect of the internal inflation pressure to model each robot bending segment for various conditions of structural stiffness. We determined the parameters of our bending model by performing a least-square technique based on the pressure-bending data acquired from an experimental study. The model is then used to develop a pose controller for the tip of our eversion robot. Experimental results show that the proposed control strategy is capable of guiding the tip of the eversion robot to reach a desired position and orientation whilst varying its structural stiffness.

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Section: Introductionmentioning

confidence: 99%

“…However, none of these works considers the stiffness variation of the robot structure. Efforts to control an eversion robot were limited only to apical extension [6] and a simple steering mechanism [4]. Recent work tried to perform navigation of an eversion robot by exploiting collisions with nearby obstacles.…”

Section: Introductionmentioning

confidence: 99%

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Ataka

Abrar

Putzu

et al. 2020

IEEE Robot. Autom. Lett.

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“…For multi-functional radars and communications antennas, achieving reconfiguration within the CubeSat form factor is challenging due to space limitations. Existing methods for physically reconfiguring antennas include origami folding [9], hinges [8], [10], spring forces [11], [12], soft robotics [13], and telescopic actuation [14]. However, these techniques may add significant mechanical complexity, making it difficult to scale.…”

Section: Introductionmentioning

confidence: 99%

Low-Cost S-Band Reconfigurable Monopole/Patch Antenna for CubeSats

Johnson

Manohar

Venkatakrishnan

et al. 2020

IEEE Open J. Antennas Propag.

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The development of reconfigurable antennas compatible with a CubeSat form factor can aid several space missions. Often, satellite missions require multiple wireless links with the same radio, but the design of such antennas is challenging due to the mechanical constraints and the limited power aboard a CubeSat. In this paper, we present a unique reconfigurable antenna concept enabled by adhesive polyimide tapes. The presented antenna can switch from a conventional patch to a monopole-like antenna with minimal actuation complexity. This reconfiguration provides choices for polarization, pattern, and gain without use of active components for size, cost and power consumption reductions. The frequency of operation is S-band (2.4 GHz), and the antenna achieves S11 < −10 for both reconfiguration states. Measurements compare well with simulations in both states.

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“…The eversion robots have been demonstrated to be steerable and can extend at rates of up to 10m/s to tens of meters in length. Different applications such as surveillance and monitoring, reconfigurable antennas, a soft burrowing device, soft artificial muscles and manipulators for minimally invasive surgery have been demonstrated using the eversion principle [12][13][14][15]. Furthermore, by embedding sensing technologies, bioinspired control techniques can be implemented to control eversion robots and track complex trajectories due to their high maneuverability [16].…”

Section: Introductionmentioning

confidence: 99%

Payload Capabilities and Operational Limits of Eversion Robots

Godaba

Putzu

Abrar

et al. 2019

Towards Autonomous Robotic Systems

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Recent progress in soft robotics has seen new types of actuation mechanisms based on apical extension which allows robots to grow to unprecedented lengths. Eversion robots are a type of robots based on the principle of apical extension offering excellent maneuverability and ease of control allowing users to conduct tasks from a distance. Mechanical modelling of these robotic structures is very important for understanding their operational capabilities. In this paper, we model the eversion robot as a thin-walled cylindrical beam inflated with air pressure, using Timoshenko beam theory considering rotational and shear effects. We examine the various failure modes of the eversion robots such as yielding, buckling instability and lateral collapse, and study the payloads and operational limits of these robots in axial and lateral loading conditions. Surface maps showing the operational boundaries for different combinations of the geometrical parameters are presented. This work provides insights into the design of eversion robots and can pave the way towards eversion robots with high payload capabilities that can act from long distances.

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A Tip-Extending Soft Robot Enables Reconfigurable and Deployable Antennas

Cited by 80 publications

References 21 publications

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Low-Cost S-Band Reconfigurable Monopole/Patch Antenna for CubeSats

Payload Capabilities and Operational Limits of Eversion Robots

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