Nonlinear analysis on moving process of soft robots

Fei, Yanqiong; Shen, Xingyao

doi:10.1007/s11071-013-0821-z

Cited by 11 publications

(8 citation statements)

References 12 publications

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“…Some previous research [6,7,9,29] demonstrates the fact that multi-soft-modules can make a straight motion and turning motion by intermittent contact and friction with the ground, and our soft modular robot also takes the advantage of the method. The different phaseoffset of each module leads to an asynchronous contraction and expansion law, which realizes their intermittent contact with the ground surface.…”

Section: Evolutionary Algorithm and Control Methodsmentioning

confidence: 93%

“…By using the concept of assembling, Lee et al [5] designed modules with different materials and functions that can be assembled to form the physical prototype according to the tasks' requirements. In addition, there are many analogous designs, such as the multi-spherical modules [6], the soft modular robots actuated by voice coil [7], the reconfigurable bending modules [8], the reconfigurable omnidirectional soft robots [9], and so on. However, the nonlinear mechanical property of soft materials and the large number of units make it difficult to establish a mechanical model and design the controller of soft modular robots manually [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

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Automatic Generation of Locomotion Patterns for Soft Modular Reconfigurable Robots

et al. 2019

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In recent years, soft modular robots have become popular among researchers with the development of soft robotics. However, the absence of a visual 3D simulation platform for soft modular robots hold back the development of the field. The three-dimensional simulation platform plays an important role in the field of multi-body robots. It can shorten the design cycle, reduce costs, and verify the effectiveness of the optimization algorithm expediently. Equally importantly, evolutionary computation is a very effective method for designing the controller of multi-body robots and soft robots with hyper redundancy and large parametric design space. In this paper, a tradeoff between the structural complexity of the soft modular robot and computational power of the simulation software is made. A reconfigurable soft modular robot is designed, and the open-source simulation software VOXCAD is re-developed to simulate the actual soft robot. The evolutionary algorithm is also applied to search for the most efficient motion pattern for an established configuration in VOXCAD, and experiments are conducted to validate the results.

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Section: Evolutionary Algorithm and Control Methodsmentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

Automatic Generation of Locomotion Patterns for Soft Modular Reconfigurable Robots

et al. 2019

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“…They could go through an obstacle which could allow low height only. The soft robot could better mimic the moving mode of natural living creatures which could adapt to environments where our human could not arrive [3,4].…”

Section: Introductionmentioning

confidence: 99%

“…Cecilia invented octopus-inspired soft arms which could bend like real arms of people [6]. Fei analyzed the nonlinear dynamic moving process with the deflating and inflating modes [3,7]. Additionally, some different moving modes such as a caterpillar-inspired moving mode and a deformational jumping and crawling moving mode were presented.…”

Section: Introductionmentioning

confidence: 99%

Study on nonlinear obstacle avoidance on modular soft robots

Fei

Wang

2015

Nonlinear Dyn

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A modular soft robot, which consists of three deformable spherical cells, the electromagnetic valves and the control systems, is constructed. According to the deflating action and the inflating action of the spherical cells, the size and the shape of each spherical cell can be changed. Thus, the soft robot can move through a narrow or low complicated passage. In this paper, the nonlinear relationship between the pressure (P) and the inflation radius (R) of each cell with different original diameters (r ) is described to control the change of the spherical cell. In order to move through a narrow or low obstacle, based on the different distances S i between spherical cell i and the obstacle, four kinds of different moving orders are obtained. For each kind of moving order, the nonlinear dynamic moving process is analyzed with the deflating and inflating modes of each cell. The theoretical analysis of nonlinear obstacle avoidance is proposed, and the moving conditions are presented in details. Last, a simulation and an experiment of three spherical cells are shown to emulate the obstacle avoidance process of the soft robot.

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“…In particular, a control system is called nonlinear when it contains at least one nonlinear component [14]. For example, a soft robot [2], that is, a robotic system that consists of several deformable spherical components, is a nonlinear robotic system [15]. Unlike (some) rigid robots, a soft robot can in general go through or above an obstacle.…”

mentioning

confidence: 99%

Robots That Do Not Avoid Obstacles

Papadopoulos

Syropoulos²

2018

Applications of Nonlinear Analysis

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The motion planning problem is a fundamental problem in robotics, so that every autonomous robot should be able to deal with it. A number of solutions have been proposed and a probabilistic one seems to be quite reasonable. However, here we propose a more adoptive solution that uses fuzzy set theory and we expose this solution next to a sort survey on the recent theory of soft robots, for a future qualitative comparison between the two.

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Nonlinear analysis on moving process of soft robots

Cited by 11 publications

References 12 publications

Automatic Generation of Locomotion Patterns for Soft Modular Reconfigurable Robots

Automatic Generation of Locomotion Patterns for Soft Modular Reconfigurable Robots

Study on nonlinear obstacle avoidance on modular soft robots

Robots That Do Not Avoid Obstacles

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