BRC FY17 Topic 5 - SEA-STAR: Soft Echinoderm-Inspired Appendages for Strong Tactile Amphibious Robots
Abstract
A functionally hierarchical architecture and distributed control scheme is proposed for dexterous, underwater soft robot appendages with a high force-to-compliance ratio. Inspired by the complex organization of endoskeletal elements, water vascular system, and tube-feet arrays in radially symmetrical echinoderms, the global configuration and dynamical state of the SEA-STAR robotic appendages will be controlled by a network of embedded sensors and hydraulic actuators for closed-loop control.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 04, 2017
- Source ID
- N000141712063
Entities
People
- Derek Paley
Organizations
- Office of Naval Research
- United States Navy
- University of Maryland