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Anchoring like octopus: biologically-inspired soft artificial sucker

机译:像章鱼一样锚定:生物启发的柔软人工吸盘

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摘要

This paper presents a robotic anchoring module, a sensorised mechanism for attachment to the environment that can be integrated into robots to enable or enhance various functions such as robot mobility, remaining on location or its ability to manipulate objects. The body of the anchoring module consists of two portions with a mechanical stiffness transition from hard to soft. The hard portion is capable of containing vacuum pressure used for actuation whilst the soft portion is highly conformable to create a seal to contact surfaces. The module is integrated with a single sensory unit which exploits a fibre optic sensing principle to seamlessly measure proximity and tactile information for use in robot motion planning as well as measuring the state of firmness of its anchor. In an experiment, a variable set of physical loads representing the weights of potential robot bodies were attached to the module and its ability to maintain the anchor was quantified under constant and variable vacuum pressure signals. The experiment shows the effectiveness of the module in quantifying the state of firmness of the anchor and discriminating between different amounts of physical loads attached to it. The proposed anchoring module can enable many industrial and medical applications where attachment to environment is of crucial importance for robot control.
机译:本文提出了一种机器人锚固模块,一种附着于环境的传感器化机制,可以集成到机器人中,以实现或增强各种功能,例如机器人移动性,留在现场或其操纵物体的能力。锚固模块的主体由机械刚度从硬到软的两个部分组成。硬部分能够容纳用于致动的真空压力,而软部分则非常适合于形成接触表面的密封。该模块与单个传感单元集成在一起,该传感单元利用光纤传感原理无缝测量接近度和触觉信息,以用于机器人运动计划以及测量其锚固件的牢固状态。在一个实验中,将代表潜在机器人身体重量的一组可变物理负载连接到该模块,并在恒定和可变真空压力信号下量化了其固定锚的能力。实验表明,该模块在量化锚固件的牢固状态以及区分附着到锚固件上的不同物理负载量方面是有效的。所提出的锚固模块可以实现许多工业和医疗应用,其中附着环境对于机器人控制至关重要。

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