Omnidirectional compliance on cross-linked actuator coordination enables simultaneous multi-functions of soft modular robots

Fang，Zhonggui1,2; Wu，Yige2; Su，Yinyin2,3; Yi，Juan1,2; Liu，Sicong2; Wang，Zheng2

2023-12-01

10.1038/s41598-023-39109-2

Scientific Reports   影响因子和分区

2045-2322

2045-2322

Earthworms have entirely soft bodies mainly composed of circular and longitudinal muscle bundles but can handle the complexity of unstructured environments with exceptional multifunctionality. Soft robots are naturally appropriate for mimicking soft animal structures thanks to their inherent compliance. Here, we explore the new possibility of using this compliance to coordinate the actuation movements of single-type soft actuators for not only high adaptability but the simultaneous multifunctionality of soft robots. A cross-linked actuator coordination mechanism is proposed and explained with a novel conceptual design of a cross-linked network, characterization of modular coordinated kinematics, and a modular control strategy for multiple functions. We model and analyze the motion patterns for these functions, including grabbing, manipulation, and locomotion. This further enables the combination of simultaneous multi-functions with this very simple actuator network structure. In this way, a soft modular robot is developed with demonstrations of a novel continuous-transportation mode, for which multiple objects could be simultaneously transported in unstructured environments with either mobile manipulation or pick-and-place operation. A comprehensive workflow is presented to elaborate the cross-linked actuator coordination concept, analytical modeling, modular control strategy, experimental validation, and multi-functional applications. Our understanding of actuator coordination inspires new soft robotic designs for wider robotic applications.

SCI

英语

第一 ; 通讯

Basic and Applied Basic Research Foundation of Guangdong Province[2021A1515110658];National Natural Science Foundation of China[51975268];Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20220527171403009];

Science & Technology - Other Topics

Multidisciplinary Sciences

WOS:001038693100018

NATURE PORTFOLIO

2-s2.0-85165894087

Scopus

1.Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Southern University of Science and Technology,Shenzhen,China
2.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,China
3.Department of Mechanical Engineering,The University of Hong Kong,Central and Western District,Hong Kong

Fang，Zhonggui,Wu，Yige,Su，Yinyin,et al. Omnidirectional compliance on cross-linked actuator coordination enables simultaneous multi-functions of soft modular robots[J]. Scientific Reports,2023,13(1).

Fang，Zhonggui,Wu，Yige,Su，Yinyin,Yi，Juan,Liu，Sicong,&Wang，Zheng.(2023).Omnidirectional compliance on cross-linked actuator coordination enables simultaneous multi-functions of soft modular robots.Scientific Reports,13(1).

Fang，Zhonggui,et al."Omnidirectional compliance on cross-linked actuator coordination enables simultaneous multi-functions of soft modular robots".Scientific Reports 13.1(2023).