SOFTOPUS: A Cephalopods-inspired Intelligent Soft Robot for Sensing, Manipulation, Locomotion, and Texture Modulation
Abstract
Abstract (Approved for Public Release)The design of a cephalopods-inspired soft robot capable of both texture modulation and manipulation/locomotion, has not been attempted so far. This can be ascribed to the limitations of the actuators (e.g., electric, pneumatic, or smart materials such as shape memory alloys or electroactive polymers) and sensors (mainly conventional piezoceramic crystals)used, that would make the final device rigid, heavy, cumbersome, and expensive.This project aims to overcome all the limitations mentioned above by using artificial muscles (i.e., Twisted and Coiled Artificial Muscles (TCAMs) and Twisted Spiral Artificial Muscles(TSAMs)) and geopolymer sensors, to develop SOFTOPUS: a soft intelligent underwater robot the size of a real octopus and capable ofperforming adaptive texture modulation and manipulation/locomotion at the same time. Flexible TCAMs and TSAMs were recently developed by the PI from inexpensive carbon fibers and polymer fibers, respectively. They are able to lift up to 12,600 times their own weight and provide 2000% of output strain, respectively, with only 0.02 V/mm of electrical input. Moreover, they provide within one single flexible component the same biomechanical performance of skeletal muscles in terms of active/passive force by paving the way fora truly bioinspired design and fine motion.Geopolymers, inexpensive ceramic materials fabricated via a room-temperature manufacturing process similar to that of ordinary cement, were recently proposed by the PI as low-cost and customizable sensors, with unique performance in wet conditions.The large force and strain and the small input voltage of flexible TSAMs and TCAMs, combined with the low cost of both artificial muscles and geopolymers, will allow us to overcome the limitations of existing actuators and sensors in terms of flexibility, size, weight, and cost.The technical approach of the proposed research activity will include: #Task I: Development of geopolymer sensors. #Task II: Tentacles assembly and control. #Task III: Air and underwater tests.This project will allow manyof the principal investigator#s current federally funded projects to converge toward a common goal to develop a novel underwater soft robot with unique performance, able to emulate cephalopods for manipulation, locomotion, texture change, and sensing, with revolutionary impact on soft robotic and militarily relevant robotic applications.This robot can be used to perform underwater monitoring,rescue, and assembly operations. At the same time, it can camouflage with the surrounding environment, improve its swimming efficiency, and even detach biofilms from its body, by changing the texture of its skin.These applications are highly relevant to the U.S. Navy and scientific progress in the naval research field. Thanks to flexible and compact artificial muscles, this soft robot has thepotential to reduce the gap between biological and synthetic systems and improve the state of the art in several fields, including robotics, material science, hydrodynamics, and naval engineering.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 12, 2023
- Source ID
- N000142312116
Entities
People
- Caterina Lamuta
Organizations
- Office of Naval Research
- United States Navy
- University of Iowa