Lightweight Soft Robotic Vehicles with Inflation-Based Locomotion (white paper 24-000006252)
Abstract
Approved for Public ReleaseThis project aims to develop a reconfigurable robotic system for lighter-than-air locomotion using large, inflatable, soft limbs. The proposed innovation combines the bending flexibility of thin inextensible materials, low-pressure inflation using the Bernoulli effect, and lightweight electrostatic clutches to deform and reconfigure inflatable structures. By applying this innovation to soft limbs at large size scales, and attaching these limbs to a vehicle, we hypothesize that significant aerodynamic forces can be produced. To convert these forces into goal-directed locomotion, our approach will balance artificial decision-making with the embodied cognition of this highly nonlinear dynamical system. We propose computationally-simple planning algorithms over motion primitives, creating robust behaviors without extensive sensing, high-dimensional modeling, or precise control. Thrusts in this project will: (1) develop the inflatable locomotion system and clutches, (2) concurrently integrate an optimization problem to determine deformation and reconfiguration motions of limbs, and (3) continuously evaluate the approach in hardware tasks that choose between motions to achieve a locomotion goal. Results of this project have the potential to assist warfighters in reconnaissanceand transportation, without limitations on environmental collisions or mobility constraints.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Mar 08, 2024
- Source ID
- N000142412137
Entities
People
- Andrew P. Sabelhaus
Organizations
- Boston University
- Office of Naval Research
- United States Navy