Soft Marine Robotics with Cephalopod-Inspired Dynamic Motion Primitives and Electroactive Fluidic Sensing and Actuation
Abstract
The objectives of the proposed work are to determine the fundamental electromechanics of actuation in soft robot limbs based on electrorheological fluids valved with liquid-metal electrodes and to investigate octopus-inspired control based on dynamic motion primitives of soft robots.The proposed approach to achieve the expected outcomes will follow a pattern of designbuild-test-verify. The proposed work is technically meritorious thanks to new and creative approaches to investigating soft robot mechanics and control incorporating several innovations: (1) hydraulic actuation, (2) electrorheological fluids, (3) liquid metal sensors, (4) octopus-inspired morphology, (5) octopus-inspired motion primitives, and (6) multimaterial 3D printing.The impacts of the proposed research will be in the fast valving, on-board actuation, and bioinspired control of soft marine robots. ONR will benefit directly from the novel performance capabilities exploiting electroactive and adaptive soft material systems. The success of the proposed work will generate new knowledge for the Biorobotics program bridging the control of soft roboticsto the behavior of octopus. More broadly, the proposed work aims to change how soft electronics and robotics are evaluated and their applications designed, thanks to a fundamental framework describing the behavior of electroactive and stretchable fluidics.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 23, 2016
- Source ID
- N000141612529
Entities
People
- Yiğit Mengüç
Organizations
- Office of Naval Research
- Oregon State University
- United States Navy