3D REAL-TIME GLOBAL PROPRIOCEPTIVE CURVATURE SENSING FOR SOFT GROWING ROBOTS
Abstract
This project is to develop a flexible global pro-prioceptive curvature sensor by optical frequency domain reflectometry (OFDR) technology for a soft growing “vine” robot. The proposed sensor can be attached to the robot; it will be protected by a soft jacket (created using an ultrasonic seam sealer), and have long durability via a tension controller. The sensor will measure the 3D shape of a 5 meter long soft vine robot with 2.3 mm resolution, 1 in-1 bending radius, and 1% total length error of the tip position in 0.1 seconds.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 12, 2021
- Source ID
- FA95502010154
Entities
People
- Allison M. Okamura
Organizations
- Air Force Office of Scientific Research
- Stanford University
- United States Air Force