Enabling Novel Minimally-Actuated Robotic Capabilities Through Active Fluids

摘要

Integration of active fluids and robotics holds the potential to launch a novel class of compliant mechanisms and mesoscale hydraulic robots. The incorporation of 'active,' 'field-activated,' or 'field-responsive' fluids - - i.e. fluids that change their material properties in response to an applied field -- into traditional robotic components offers a number of compelling advantages over existing technologies. In this project we develop MINERVA (Multichannel INtegrated ER Valve Assemblies), a small-scale electrorheological (ER) servovalve that holds the potential to unleash a new class of affordable small-scale hydraulic systems. This report summarized the underlying science, valve fabrication, and integration of MINERVA into robotic platforms. In addition we investigate the use of active materials in jammable robotic systems and adhesive climbers.