Simple, scalable active cells for articulated robot structures

Swensen, John P., Nawroj, Ahsan I., Pounds, Paul E. I. and Dollar, Aaron M. (2014). Simple, scalable active cells for articulated robot structures. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). International Conference on Robotics and Automation, Hong Kong, China, (1241-1246). 31 May - 7 June 2014. doi:10.1109/ICRA.2014.6907012


Author Swensen, John P.
Nawroj, Ahsan I.
Pounds, Paul E. I.
Dollar, Aaron M.
Title of paper Simple, scalable active cells for articulated robot structures
Conference name International Conference on Robotics and Automation
Conference location Hong Kong, China
Conference dates 31 May - 7 June 2014
Proceedings title 2014 IEEE International Conference on Robotics and Automation (ICRA)   Check publisher's open access policy
Place of Publication Piscataway, NJ, United States
Publisher IEEE
Publication Year 2014
Sub-type Fully published paper
DOI 10.1109/ICRA.2014.6907012
ISBN 9781479936854
ISSN 2152-4092
Start page 1241
End page 1246
Total pages 6
Language eng
Abstract/Summary The proposed research effort explores the development of active cells - simple contractile electromechanical units that can be used as the material basis for larger articulable structures. Each cell, which might be considered a 'muscle unit', consists of a contractile Nitinol SMA core with conductive terminals. Large numbers of these cells might be combined and externally powered to change phase, contracting to either articulate with a large strain or increase the stiffness of the ensemble, depending on the cell design. Unlike traditional work in modular robotics, the approach presented here focuses on cells that have a simplistic design and function, are inexpensive to fabricate, and are eventually scalable to sub-millimeter sizes, working towards our vision of robot structures that can be custom-fabricated from large numbers of general cell units, similar to biological structures.
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status UQ

 
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Created: Sat, 30 Jan 2016, 02:11:22 EST by Paul Pounds on behalf of School of Information Technol and Elec Engineering