Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints

by   Ioannis Exarchos, et al.

Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an increased workspace, with potential application in home environments. This paper presents an approach for design optimization of such robots to reach specified targets while minimizing the number of discrete joints and thus construction and actuation costs. We define a maximum number of allowable joints, as well as hardware constraints imposed by the materials and actuation available for soft growing robots, and we formulate and solve an optimization problem to output a robot design, i.e., the total number of potential joints and their locations along the robot body, which reaches all the desired targets. We then rapidly construct the resulting soft growing robot design using readily available, low-cost materials, and we demonstrate its ability to reach the desired targets. Finally, we use our algorithm to evaluate the ability of this design to reach new targets, and we demonstrate the algorithm's utility as a design tool to explore robot capabilities given various constraints and objectives.


page 1

page 5


A Tip Mount for Carrying Payloads using Soft Growing Robots

Pneumatically operated soft growing robots that lengthen through tip eve...

Soft Cap for Eversion Robots

Growing robots based on the eversion principle are known for their abili...

Safety experiments for small robots investigating the potential of soft materials in mitigating the harm to the head due to impacts

There is a growing interest in social robots to be considered in the the...

Configuration and Fabrication of Preformed Vine Robots

Vine robots are a class of soft continuum robots that grow via tip evers...

Passive Shape Locking for Multi-Bend Growing Inflated Beam Robots

Shape change enables new capabilities for robots. One class of robots ca...

Failure-Tolerant Connectivity Maintenance for Robot Swarms

Connectivity maintenance plays a key role in achieving a desired global ...

An origami crawling robot driven by a folded self-sustained oscillator

Locomotive robots that do not rely on electronics and/or electromagnetic...

Please sign up or login with your details

Forgot password? Click here to reset