Morphological Adaptation in an Energy Efficient Vibration-Based Robot

Katiyar, Shiv A.; Kandasamy, Ghopy; Kulatunga, Eranda; Mustafizur, Md.; Iida, Fumiya; Nurzaman, Surya G.

doi:10.1109/icra.2018.8461107

Cited by 4 publications

(3 citation statements)

References 20 publications

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“…While in this work we choose a wooden surface where the effect of different resonance frequencies has been shown to be significant (Nurzaman et al, 2015; Reis et al, 2013; Reis & Iida, 2013), which showed some initial works that discuss the importance of morphology and energy efficiency, it is interesting to perform experiments in other types of surfaces as a future work. There are several papers which relate optimum energy with resonance frequency (Katiyar et al, 2018); however, it is not the scope of this article. The main goal of this article is to explain and demonstrate that adaptive behavior can be achieved in a more power-efficient manner through the use of a shape-changing elastic body.…”

Section: Discussionmentioning

confidence: 99%

Power-efficient adaptive behavior through a shape-changing elastic robot

et al. 2021

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The adaptive morphology of a robot, such as shape adaptation, plays a significant role in adapting its behaviors. Shape adaptation should ideally be achieved without considerable cost, like the power required to deform the robot’s body, and therefore, it is reasonably considered as the last resort in classical rigid robots. However, the last decade has seen an increasing interest in soft robots: robots that can achieve deformability through their inherent material properties or structural compliance. Nevertheless, the dynamics of these types of robots is often complex and therefore it is difficult to substantiate whether the cost like the required power for changing its shape will be worthwhile to achieve the desired behavior. This article presents an approach in the development and analysis of a shape-changing locomoting robot, which relies on the ability of elastic beams to deform and vibrate. Through a proper use of elastic materials and the robot’s vibration-based dynamics, it will be shown both analytically and experimentally how shape adaptation can be designed such that it leads to desirable behaviors, with better power efficiency compared to when the robot solely relies on changing its control input. The results encourage emerging direction in robotics that investigates approaches to change robots’ behaviors through their adaptive morphology.

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Section: Discussionmentioning

confidence: 99%

Power-efficient adaptive behavior through a shape-changing elastic robot

et al. 2021

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“…At the same time, researchers have widely expanded on another robotics field in recent years: soft robotics. Soft robotics, which generally refer to robotic systems made at least partially out of soft materials, have seen growing adoption due to their compliant and shape-adaptive nature, low implementation costs, and energy efficiency (Nurzaman, Iida, Margheri, & Laschi, 2014;Wang, Nurzaman, & Iida, 2017;Katiyar, Kandasamy, Kulatunga, Mustafizur, Iida, & Nurzaman, 2018;Laschi, Mazzolai, & Cianchetti, 2016). In lieu of the barriers that we mention above, soft grippers could represent a solution for improving mobile manipulator-based social service robots due to their adaptability in grasping myriad household objects (Shintake, Cacuciolo, Floreano, & Shea, 2018).…”

Section: Roboticsmentioning

confidence: 99%

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2020

THCI

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As the world's population increasingly ages, we need technological solutions such as robotics technology to assist older adults in their daily tasks. In this regard, we examine soft service robots' potential to help care for the elderly. To do so, we developed and tested the degree to which they would accept a soft service robot that catered to their functional needs in the home environment. We used embodied artificial to develop an in-house teleoperated human-sized soft service robot that performed object-retrieval tasks with a soft gripper. Using an extended technology acceptance model as a theoretical lens, we conducted a study with 79 older adults to examine the degree to which they would accept a soft service robot in the home environment. We found perceived ease of use, perceived usefulness, and subjective norms as significant predictors that positively influenced older adults' intention to adopt and use soft service robots. However, we also found that perceived anxiety and perceived likability did not significantly predict older adults' intention to adopt and use soft service robots. We discuss the implications, limitations, and future research directions that arise from these findings.

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“…Piezoelectric soft robots [12,13] accomplish rapid galumphing (≈200 Hz) but suffer from motion instability owing to their flexible structures. Conversely, hopping robots, [14][15][16] actuated by servomotors, can achieve stable and efficient galumphing at lower frequencies (<50 Hz). Nonetheless, prior implementations situated the actuator on the vertical plane, necessitating an additional module for horizontal steering.…”

Section: Introductionmentioning

confidence: 99%

Multidirectional Planar Motion Transmission on a Single‐Motor Actuated Robot via Microscopic Galumphing

Tang,

Wang,

et al. 2023

Advanced Science

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Insect‐scale mobile robots can execute diverse arrays of tasks in confined spaces. Although most self‐contained crawling robots integrate multiple actuators to ensure high flexibility, the intricate actuators restrict their miniaturization. Conversely, robots with a single actuator lack the requisite agility and precision for planar movements. Herein, a novel eccentric rotation‐dependent multidirectional transmission is presented using a tilted eccentric motor and a simplistic two‐legged structural configuration for planar locomotion. The speed of the eccentric motor is modulated to enable alternating microscopic jumps to propel the system, creating a mode of motion analogous to galumphing of seals. Upon modeling the motion dynamics and conducting experiments, the effectiveness of direct motion transmission is substantiated through microscopic galumphing encompassing left/right crawling and straight‐forward crawling. Finally, a 1.2 g untethered robot is developed, which demonstrates enhanced straight crawling and spot turning, traverses narrow tunnels, and achieves precise movements. Therefore, the proposed motion‐transmission technique provides a comprehensive set of innovative solutions of underactuated agile robots.

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Morphological Adaptation in an Energy Efficient Vibration-Based Robot

Cited by 4 publications

References 20 publications

Power-efficient adaptive behavior through a shape-changing elastic robot

Power-efficient adaptive behavior through a shape-changing elastic robot

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Multidirectional Planar Motion Transmission on a Single‐Motor Actuated Robot via Microscopic Galumphing

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