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Design, Modeling, Control, and Application of Everting Vine Robots

Laura H. Blumenschein, Margaret M. Coad, David A. Haggerty, Allison M. Okamura, Elliot W. Hawkes
2020 Frontiers in Robotics and AI  
Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot  ...  Everting vine robot applications to date include deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment.  ...  ACKNOWLEDGMENTS We thank our many collaborators on everting vine robot research for discussions related to the topics presented here.  ... 
doi:10.3389/frobt.2020.548266 pmid:33501315 pmcid:PMC7805729 fatcat:7wosgy37bve7vhegpkbkczjjvi

Body-Borne Computers as Extensions of Self

Sang-won Leigh, Harpreet Sareen, Hsin-Liu Kao, Xin Liu, Pattie Maes
2017 Computers  
We add some of our ongoing research progress in the discussion, and show how the HCI approach can extend the research with more computing, interactivity, and application perspectives.  ...  We envision such technologies to offer extended functions of existing parts of the body, and establish low-level communication with our sensorimotor or somatosensory systems.  ...  TreeSense is a collaboration between Xin Liu and Yedan Qian. Author Contributions: All authors contributed to the overall conception of the scope of the paper.  ... 
doi:10.3390/computers6010012 fatcat:m2sd4n25crarnoyn2hjjptjph4

A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes [article]

Brian H. Do, O. Godson Osele, Allison M. Okamura
2021 arXiv   pre-print
, which are pinched together to form a reconfigurable revolute joint.  ...  To facilitate sensing and physical interaction in remote and/or constrained environments, high-extension, lightweight robot manipulators are easier to transport and reach substantially further than traditional  ...  In the fields of soft robotics as well as deployable and reconfigurable structures, a number of different designs exist which exhibit retraction capabilities through spooling of material [4] , [5] .  ... 
arXiv:2110.09751v1 fatcat:u7qy6oqydrcrtnuzvsq5qsjpvu

Bioinspired dual-stiffness origami

Stefano Mintchev, Jun Shintake, Dario Floreano
2018 Science Robotics  
Origami manufacturing has led to considerable advances in the field of foldable structures with innovative applications in robotics, aerospace, and metamaterials.  ...  However, existing origami are either load-bearing structures that are prone to tear and fail if overloaded or resilient soft structures with limited load capability.  ...  This design principle could find applications in a variety of areas, such as shape-shifting robots, mobile electronic devices, portable tools, antennas, and any other man-made structures that could benefit  ... 
doi:10.1126/scirobotics.aau0275 pmid:33141731 fatcat:w3fyardscfcj5bhb63d5g7xs4e

Permanent Magnet-Based Localization for Growing Robots in Medical Applications

Connor Watson, Tania Morimoto
2020 IEEE Robotics and Automation Letters  
In particular, I would like to thank Professor Tolley for having me as a reader for a course he taught on robotics which both helped to support my education as well as further my understanding of the subject  ...  Cedric Girerd for his help and advice with regards to this work, as well as his perspective on research in general.  ...  She has not only provided me with the mentor-ship that has helped me to develop this work to its full potential, but also been a consistent role model for me as I develop professionally and learn what  ... 
doi:10.1109/lra.2020.2972890 fatcat:nbtg4fuq45gsff2yokolypo3ou

2018 Index IEEE/ASME Transactions on Mechatronics Vol. 23

2018 IEEE/ASME transactions on mechatronics  
., +, TMECH April 2018 614-623 Design and Evaluation of a Soft Robotic Smart Shoe for Haptic Terrain Rendering.  ...  ., +, TMECH Oct. 2018 2156-2167 An Extended Kalman Filter as an Observer in a Control Structure for Health Monitoring of a Metal-Polymer Hybrid Soft Actuator.  ...  1981 -1992 Improved NO and NO2 Concentration Estimation for a Diesel-Engine-Aftertreatment System. Zhang, H., +, TMECH Feb. 2018 190-199  ... 
doi:10.1109/tmech.2019.2893551 fatcat:ds4rb6mpw5bnbbbrdn25n3oh6m

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA July 2020 3868-3875 Dielectric materials 3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots.  ...  ., +, LRA July 2020 4859-4866 Electromagnetic devices 3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

6G and Beyond: The Future of Wireless Communications Systems

Ian F. Akyildiz, Ahan Kak, Shuai Nie
2020 IEEE Access  
Gutierrez-Estevez, Elias Chavarria Reyes, Evgeny Khorov, and Xudong Wang for their valuable insights and suggestions that have played a critical role in improving the quality of this paper.  ...  On the other hand, electronically-controlled reconfigurable antenna arrays are envisioned by leveraging the tunability of plasmonic antennas.  ...  Also, since the payloads are pre-determined in the LEO and GEO satellites from the period of development until deployment, it is difficult to reconfigure any component in the middle of the process.  ... 
doi:10.1109/access.2020.3010896 fatcat:ozwbqibdobhwfeil2yo3lj4fii

Recent Development of Flexible and Stretchable Antennas for Bio-Integrated Electronics

Jia Zhu, Huanyu Cheng
2018 Sensors  
As a key component in wireless technology, flexible and stretchable antennas need to be flexible and stretchable, enabled by the efforts with new materials or novel integration approaches with structural  ...  Despite the rapid progress in the burgeoning field of flexible and stretchable antennas, plenty of challenges, as well as opportunities, still exist to achieve miniaturized antennas with a stable or tunable  ...  For instance, the resonant frequency of the antenna can be tuned over a wide range of distinct and discrete frequencies with robotic growth (i.e., tip-extending) that is controlled by a closed-loop system  ... 
doi:10.3390/s18124364 fatcat:6ubjxgvwkrfddj3kixgayjdcsi

Multi-objective evolution of fast and stable gaits on a physical quadruped robotic platform

Tonnes F. Nygaard, Jim Torresen, Kyrre Glette
2016 2016 IEEE Symposium Series on Computational Intelligence (SSCI)  
The main goal of the thesis is to develop methods and technology to enable adaptation of the physical body of a robot to new real-world environments.  ...  The thesis concludes that adaptation of the physical body of a robot is feasible, and in fact, already shows significant benefits with current technology and methods.  ...  A GPS antenna was also added to enable precise outdoor positioning. Software The whole software system uses the Robot Operating System (ROS) framework [76] .  ... 
doi:10.1109/ssci.2016.7850167 dblp:conf/ssci/NygaardTG16 fatcat:x3aoioqesvghzk7lbzpejridwi

Table of Contents

2022 IEEE Robotics and Automation Letters  
Zhu, and X. Hu A Reconfigurable Leg for Walking Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F. Nan, H. Kolvenbach, and M.  ...  Bettahar, and Q. Zhou Q-Attention: Enabling Efficient Learning for Vision-Based Robotic Manipulation . . . . . . . . . . S. James and A. J.  ... 
doi:10.1109/lra.2022.3165102 fatcat:enjzebowe5hn7hsfwklc7nieuy

Conference Digest

2020 2020 IEEE Aerospace Conference  
The Auxiliary Payload Sensor Suite (APSS), a collection of environmental sensors carried by the Interior exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) lander, is capable  ...  of measuring Martian air temperature, wind speed, atmospheric pressure, and local magnetic fields.  ...  second tendril and the trunk tip.  ... 
doi:10.1109/aero47225.2020.9172613 fatcat:ioqf5ijrx5gvffu3ls34aa2nsq

Robotic Manipulation and Capture in Space: A Survey

Evangelos Papadopoulos, Farhad Aghili, Ou Ma, Roberto Lampariello
2021 Frontiers in Robotics and AI  
Manipulation and capture of objects on-orbit are key enablers for these capabilities.  ...  Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks.  ...  Moreover, lightweight, and flexible structures such as solar arrays, deployable truss antennas are employed (Du and Wang, 2020).  ... 
doi:10.3389/frobt.2021.686723 fatcat:tigdb7c2tzhcjp7kxkjntqgdri

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2015 Budget Estimates

Department Of Defense Comptroller's Office
2014 Zenodo  
advanced control and sensory functions.  ...  The budget request details the proposed investments $80 million to develop new sets of tools for imaging and analytics of neural and synaptic brain activities that will improve diagnosis and care of wounded  ...  -Applied fabrication methods to produce robot components at substantial (> 50% lower) cost savings, to include printing and assembly by folding of a walking robot, and fabrication of a soft pneumatically  ... 
doi:10.5281/zenodo.1215345 fatcat:fjzhmynqjbaafk67q2ckcblj2m

Topologically engineered 3D printed architectures with superior mechanical strength

Rushikesh S. Ambekar, Brijesh Kushwaha, Pradeep Sharma, Federico Bosia, Massimiliano Fraldi, Nicola M. Pugno, Chandra S. Tiwary
2021 Materials Today  
Beyond design, additive manufacturing has enabled the facile fabrication of complex geometrical and bio-inspired architectures, using computer aided design models.  ...  In this review, we provide a perspective on topologically engineered architectured materials that exhibit optimal mechanical behaviour and can be readily printed using additive manufacturing.  ...  A diagram of fracture patterns displays three distinct propagation zones: soft tip (ST) zones, soft shear (SS) zones and hard platelet (HP) zones.  ... 
doi:10.1016/j.mattod.2021.03.014 fatcat:asf2xv26j5f3pl3mawoiiys724
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