A recipe for soft fluidic elastomer robots

Soft Robotics

Volumn 2, Issue 1, 2015, Pages 7-25

  Marchese, Andrew D ^a   Katzschmann, Robert K ^a   Rus, Daniela ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 84991759822     PISSN: 21695172     EISSN: 21695180     Source Type: Journal    
DOI: 10.1089/soro.2014.0022     Document Type: Article

References (74)

1. Trivedi D, Rahn CD, Kier WM, Walker ID. Soft robotics: biological inspiration, state of the art, and future research. Appl Bionics Biomech 2008; 5: 99-117.
2. McMahan W, Chitrakaran V, Csencsits M, Dawson D, Walker ID, Jones BA, Pritts M, Dienno D, Grissom M, Rahn CD. Field trials, and testing of the octarm continuum manipulator. In: Proceedings of 2006 IEEE International Conference on Robotics, and Automation, 2006. IEEE, New York, 2006, pp. 2336-2341.
3. Deimel R, Brock O. A novel type of compliant, underactuated robotic hand for dexterous grasping. In: Proceedings of Robotics: Science, and Systems, 2014.
4. Tolley MT, Shepherd RF, Mosadegh B, Galloway KC, Wehner M, Karpelson M, Wood RJ, Whitesides GM. A resilient, untethered soft robot. Soft Robotics 2014; 1: 213-223.
5. Trimmer B. A journal of soft robotics: why now?. Soft Robotics 2014; 1: 1-4.
6. Lipson H. Challenges, and opportunities for design, simulation, and fabrication of soft robots. Soft Robotics 2014; 1: 21-27.
7. Majidi C. Soft robotics: a perspectivecurrent trends, and prospects for the future. Soft Robotics 2014; 1: 5-11.
8. Marchese AD, Komorowski K, Onal CD, Rus D. Design, and control of a soft, and continuously deformable 2d robotic manipulation system. In: 2014 IEEE International Conference on Robotics, and Automation (ICRA), IEEE, New York, 2014.
9. Katzschmann RK, Marchese AD, Rus D. Hydraulic autonomous soft robotic fish for 3d swimming. In: International Symposium on Experimental Robotics (ISER), 2014.
10. Marchese AD, Katzschmann RK, Rus D. Whole arm planning for a soft, and highly compliant 2d robotic manipulator. In: 2014 IEEE/RSJ International Conference on Intelligent Robots, and Systems (IROS), IEEE, New York, 2014.
11. Katzschmann RK, Marchese AD, Rus D. Autonomous object manipulation using a soft planar grasping manipulator. In: 2015 IEEE/RSJ International Conference on Intelligent Robots, and Systems (IROS 2015). IEEE, New York, 2015.
12. Lipson H. Challenges, and opportunities for design, simulation, and fabrication of soft robots. Soft Robotics 2013; 1: 21-27.
13. Rus D, Tolley MT. Soft: a new paradigm in robotics. Nature, 2014.
14. Marchese AD. Design, fabrication, and control of soft robot using fluidic elastomer actuators. PhD thesis, MIT, 2015.
15. KimS, Hawkes E, Cho K, Joldaz M, Foleyz J, Wood R.Micro artificial muscle fiber using niti spring for soft robotics. In: IEEE/RSJ International Conference on Intelligent Robots, and Systems, 2009. IEEE, New York, 2009, pp. 2228-2234.
16. Laschi C, Cianchetti M, Mazzolai B, Margheri L, Follador M, Dario P. Soft robot arm inspired by the octopus. Adv Robotics 2012; 26: 709-727.
17. Cianchetti M, Licofonte A, Follador M, Rogai F, Laschi C. Bioinspired soft actuation system using shape memory alloys. In: Actuators, volume 3. Multidisciplinary Digital Publishing Institute, Basel, 2014, pp. 226-244.
18. Seok S, Onal CD, Wood R, Rus D, Kim S. Peristaltic locomotion with antagonistic actuators in soft robotics. In: International Conference on Robotics, and Automation (ICRA). IEEE, New York, 2010, pp. 1228-1233.
19. Koh J-S, Cho K-J. Omega-shaped inchworm-inspired crawling robot with large-index-37 and-pitch (lip) sma spring actuators. IEEE/ASME Trans Mechatron 2013; 18: 419-429.
20. Umedachi T, Vikas V, Trimmer BA. Highly deformable 3-d printed soft robot generating inching, and crawling locomotions with variable friction legs. In: 2013 IEEE/RSJ International Conference on Intelligent Robots, and Systems (IROS). IROS, 2013, pp. 4590-4595.
21. Cieslak R, Morecki A. Elephant trunk type elastic manipulator-A tool for bulk, and liquid materials transportation. Robotica 1999; 17: 11-16.
22. Buckingham R. Snake arm robots. Ind Robot 2002; 29: 242-245.
23. Gravagne IA, Walker ID. Uniform regulation of a multisection continuum manipulator. In: Proceedings of ICRA 02 IEEE International Conference on Robotics, and Automation, 2002, volume 2. IEEE, New York, 2002, pp. 1519-1524.
24. Hannan MW, Walker ID. Kinematics, and the implementation of an elephant s trunk manipulator, and other continuum style robots. J Robotic Syst 2003; 20: 45-63.
25. McMahan W, Jones BA, Walker ID. Design, and implementation of a multi-section continuum robot: air-octor. In 2005 IEEE/RSJ International Conference on Intelligent Robots, and Systems, 2005. IEEE, New York, 2005, pp. 2578-2585.
26. Camarillo DB, Carlson CR, Salisbury JK. Configuration tracking for continuum manipulators with coupled tendon drive. IEEE Trans Robotics 2009; 25: 798-808.
27. Alvarado PVy, Youcef-Toumi K. Design of machines with compliant bodies for biomimetic locomotion in liquid environments. J Dyn Syst Meas Control 2006; 128: 3.
28. Calisti M, Arienti A, Giannaccini ME, Follador M, Giorelli M, Cianchetti M, Mazzolai B, Laschi C, Dario P. Study, and fabrication of bioinspired octopus arm mockups tested on a multipurpose platform. In: 2010 3rd IEEE RAS, and EMBS International Conference on Biomedical Robotics, and Biomechatronics (BioRob). IEEE, New York, 2010, pp. 461-466.
29. Calisti M, Giorelli M, Levy G, Mazzolai B, Hochner B, Laschi C, Dario P. An octopusbioinspired solution to movement, and manipulation for soft robots. Bioinsp Biomimet 2011; 6: 036002.
30. Wang H, Chen W, Yu X, Deng T, Wang X, Pfeifer R. Visual servo control of cable-driven soft robotic manipulator. In: 2013 IEEE/RSJ International Conference on Intelligent Robots, and Systems (IROS). IEEE, New York, 2013, pp. 57-62.
31. Chou C-P, Hannaford B. Measurement, and modeling of mckibben pneumatic artificial muscles. IEEE Trans Robotics Autom 1996; 12: 90-102.
32. Tondu B, Lopez P. Modeling, and control of mckibben artificial muscle robot actuators. IEEE Control Syst 2000; 20: 15-38.
33. Caldwell DG, Tsagarakis N, Medrano-Cerda GA. Biomimetic actuators: polymeric pseudo muscular actuators, and pneumatic muscle actuators for biological emulation. Mechatronics 2000; 10: 499-530.
34. Daerden F, Lefeber D. Pneumatic artificial muscles: actuators for robotics, and automation. Eur J Mech Environ Eng 2002; 47: 11-21.
35. Reynolds DB, Repperger DW, Phillips CA, Bandry G. Modeling the dynamic characteristics of pneumatic muscle. Ann Biomed Eng 2003; 31: 310-317.
36. Pritts MB, Rahn CD. Design of an artificial muscle continuum robot. In: Proceedings of 2004 IEEE International Conference on Robotics, and Automation, volume 5. IEEE, New York, 2004, pp. 4742-4746.
37. Kang R, Branson DT, Zheng T, Guglielmino E, Caldwell DG. Design, modeling, and control of a pneumatically actuated manipulator inspired by biological continuum structures. Bioinsp Biomimet 2013; 8: 036008.
38. Suzumori K, Iikura S, Tanaka H. Applying a flexible microactuator to robotic mechanisms. IEEE Control Syst 1992; 12: 21-27.
39. Shepherd RF, Ilievski F, Choi W, Morin SA, Stokes AA, Mazzeo AD, Chen X, Wang M, Whitesides GM. Multigait soft robot. Proc Natl Acad Sci USA 2011; 108: 20400-20403.
40. Ilievski F, Mazzeo AD, Shepherd RF, Chen X, Whitesides GM. Soft robotics for chemists. Angew Chem 2011; 123: 1930-1935.
41. Morin SA, Shepherd RF, Kwok SW, Stokes AA, Nemiroski A, Whitesides GM. Camouflage, and display for soft machines. Science 2012; 337: 828-832.
42. Martinez RV, Branch JL, Fish CR, Jin L, Shepherd RF, Nunes R, Suo Z, Whitesides GM. Robotic tentacles with three-dimensional mobility based on flexible elastomers. Adv Mater 2013; 25: 205-212.
43. Onal CD, Chen X, Whitesides GM, Rus D. Soft mobile robots with on-board chemical pressure generation. In: International Symposium on Robotics Research (ISRR), 2011.
44. Marchese AD, Onal CD, Rus D. Soft robot actuators using energy-efficient valves controlled by electropermanent magnets. In: 2011 IEEE/RSJ International Conference on Intelligent Robots, and Systems (IROS). IEEE, New York, 2011, pp. 756-761.
45. Onal CD, Rus D. Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot. Bioinsp Biomimet 2013; 8: 026003.
46. Marchese AD, Onal CD, Rus D. Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators. Soft Robotics 2014; 1: 75-87.
47. Tolley MT, Shepherd RF, Karpelson M, Bartlett NW, Galloway KC, Wehner M, Nunes R, Whitesides GM, Wood RJ. An untethered jumping soft robot. In: 2014 IEEE/RSJ International Conference on Intelligent Robots, and Systems (IROS 2014). IEEE, New York, 2014, pp. 561-566.
48. Marchese AD, Rus D. Design, kinematics, and control of a soft spatial fluidic elastomer manipulator. Int J Robotics Res 2015.
49. Marchese AD, Katzschmann RK, Rus D. Control, and planning for soft planar fluidic elastomer manipulators. Int J Robotics Res 2015.
50. Marchese AD, Tedrake R, Rus D. Dynamics, and trajectory optimization for a soft spatial fluidic elastomer manipulator. In: 2015 IEEE International Conference on Robotics, and Automation (ICRA). IEEE, New York, 2015.
51. Polygerinos P, Lyne S, Wang Z, Nicolini LF, Mosadegh B, Whitesides GM, Walsh CJ. Towards a soft pneumatic glove for hand rehabilitation. In: 2013 IEEE/RSJ International Conference on Intelligent Robots, and Systems (IROS). IEEE, New York, 2013, pp. 1512-1517.
52. Mosadegh B, Polygerinos P, Keplinger C, Wennstedt S, Shepherd RF, Gupta U, Shim J, Bertoldi K, Walsh CJ, Whitesides GM. Pneumatic networks for soft robotics that actuate rapidly. Adv Funct Mater 2014; 24: 2163-2170.
53. Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P, Menciassi A. Soft robotics technologies to address shortcomings in today s minimally invasive surgery: the stiff-flop approach. Soft Robotics 2014; 1: 122-131.
54. Brown E, Rodenberg N, Amend J, Mozeika A, Steltz E, Zakin MR, Lipson H, Jaeger HM. Universal robotic gripper based on the jamming of granular material. Proc Natl Acad Sci USA 2010; 107: 18809-18814.
55. Liu AJ, Nagel SR. Nonlinear dynamics: jamming is not just cool any more. Nature 1998; 396: 21-22.
56. Suzumori K, Endo S, Kanda T, Kato N, Suzuki H. A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. In: 2007 IEEE International Conference on Robotics, and Automation. IEEE, New York, 2007, pp. 4975-4980.
57. Bishop-Moser J, Krishnan G, Kim C, Kota S. Design of soft robotic actuators using fluid-filled fiber-reinforced elastomeric enclosures in parallel combinations. In: 2012 IEEE/RSJ International Conference on Intelligent Robots, and Systems (IROS). IEEE, New York, 2012, pp. 4264-4269.
58. Galloway KC, Polygerinos P, Walsh CJ, Wood RJ. Mechanically programmable bend radius for fiberreinforced soft actuators. In: 16th International Conference on Advanced Robotics (ICAR). IEEE, New York, 2013, pp. 1-6.
59. Deimel R, Brock O. A compliant hand based on a novel pneumatic actuator. In: 2013 IEEE International Conference on Robotics, and Automation (ICRA). IEEE, New York, 2013, pp. 2047-2053.
60. Park Y-L, Chen B, Perez-Arancibia NO, Young D, Stirling L, Wood RJ, Goldfield EC, Nagpal R. Design, and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation. Bioinsp Biomimet 2014; 9: 016007.
61. Cheney N, MacCurdy R, Clune J, Lipson H. Unshackling evolution: evolving soft robots with multiple materials, and a powerful generative encoding. In: Proceeding of the 15th Annual Conference on Genetic, and Evolutionary Computation, 2013. ACM, New York, pp. 167-174.
62. Lehman J, Stanley KO. Evolving a diversity of virtual creatures through novelty search, and local competition. In: Proceedings of the 13th Annual Conference on Genetic, and Evolutionary Computation, 2011. ACM, New York, pp. 211-218.
63. Cho K-J, Koh J-S, Kim S, Chu W-S, Hong Y, Ahn S-H. Review of manufacturing processes for soft biomimetic robots. Int J Precision Eng Manufac 2009; 10: 171-181.
64. Xia Y, Whitesides GM. Soft lithography. Annu Rev Mater Sci 1998; 28: 153-184.
65. Cham JG, Bailey SA, Clark JE, Full RJ, Cutkosky MR. Fast, and robust: hexapedal robots via shape deposition manufacturing. Int J Robotics Res 2002; 21: 869-882.
66. Correll N, Onal CD, Liang H, Schoenfeld E, Rus D. Soft autonomous materials-using active elasticity, and embedded distributed computation. In: 12th Internatoinal Symposium on Experimental Robotics, New Delhi, India, 2010.
67. Trimmer BA, Takesian AE, Sweet BM, Rogers CB, Hake DC, Rogers DJ. Caterpillar locomotion: a new model for soft-bodied climbing, and burrowing robots. In 7th International Symposium on Technology, and the Mine Problem, volume 1. Mine Warfare Association Monterey, CA, 2006, pp. 1-10.
68. Shepherd RF, Stokes AA, Freake J, Barber J, Snyder PW, Mazzeo AD, Cademartiri L, Morin SA, Whitesides GM. Using explosions to power a soft robot. Angew Chem 2013; 125: 2964-2968.
69. McEvoy MA, Correll N. Shape change through programmable stiffness. In: International Symposium on Experimental Robotics (ISER), Marrakech, Morocco, 2014. Springer Verlag, New York
70. McEvoy MA, Correll N. Thermoplastic variable stiffness composites with em-45 bedded, networked sensing, actuation, and control. J Composite Mater 2014; 0021998314525982.
71. Stokes AA, Shepherd RF, Morin SA, Ilievski F, Whitesides GM. A hybrid combining hard, and soft robots. Soft Robotics 2014; 1: 70-74.
72. Shepherd RF, Stokes AA, Nunes R, Whitesides GM. Soft machines that are resistant to puncture, and that self seal. Adv Mater 2013; 25: 6709-6713.
73. Wehner M, Tolley MT, Mengc Y, Park Y-L, Mozeika A, Ding Y, Onal C, Shepherd RF, Whitesides GM, Wood RJ. Pneumatic energy sources for autonomous, and wearable soft robotics. Soft Robotics 2014; 1: 263-274.
74. Onal CD, Rus D. A modular approach to soft robots. In: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics, and Biomechatronics (BioRob), 2012. IEEE, New York, 2012, pp. 1038-1045.