Design and Development of a Growing Pneumatic Soft Robot

Soft Robotics
Seref Kemal TalasEvren Samur

Abstract

Soft continuum robots are getting more popular in areas such as minimally invasive surgery, search and rescue, and inspection due to their inherent compliance and flexibility. However, most of the conventional continuum robots still lack the ability to significantly change size and length. Growth as a means of robotic locomotion is a novel actuation method that can be used to overcome this disadvantage. In this study, we introduce a growing pneumatic soft robot made up of pressurized thin-walled tubings that can move in three-dimensional space with an extension ratio only limited by manufacturing capabilities. Besides the ability to grow from the tip, this design provides active steering by controlling the speed of each tubing separately, controllable stiffness that can be changed during motion, and capability to carry a tool channel. We present models to estimate tip force and position and experimentally verify the force model and robot kinematics. Open-loop speed controller has an overall root mean square error of 2.69% for speeds between 20 and 300 mm/s. The position controller based on the kinematic model has a mean positioning error of 13.9 mm at 100 mm and 22.6 mm at 200 mm longitudinal distance. Robot can produce a tip f...Continue Reading

References

Nov 30, 2011·Proceedings of the National Academy of Sciences of the United States of America·Robert F ShepherdGeorge M Whitesides
Mar 26, 2013·Bioinspiration & Biomimetics·Cagdas D Onal, Daniela Rus
Jan 27, 2017·Journal of Medical Engineering & Technology·Hossein DehghaniBenjamin S Terry
Dec 6, 2017·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Haider AbidiArianna Menciassi
Oct 20, 2018·Soft Robotics·Joseph D GreerElliot W Hawkes
Jul 19, 2017·Science Robotics·Elliot W HawkesAllison M Okamura
Mar 14, 2018·Frontiers in Robotics and AI·Emanuela Del DottoreBarbara Mazzolai

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Citations

Jan 28, 2021·Frontiers in Robotics and AI·Laura H BlumenscheinElliot W Hawkes
Jun 16, 2021·Bioinspiration & Biomimetics·Ning GongShiwu Zhang
Sep 28, 2021·Soft Robotics·Mohammad Hadi Namdar GhalatiMohammad Ali Ahmadi-Pajouh

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Software Mentioned

RTOS
FPGA
omega
LabVIEW

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