Abstract
Although we do not know as yet how robots of the future will look like exactly, most of us are sure that they will not resemble the heavy, bulky, rigid machines dangerously moving around in old-fashioned industrial automation. There is a growing consensus, in the research community as well as in expectations from the public, that robots of the next generation will be physically compliant and adaptable machines, closely interacting with humans and moving safely, smoothly and efficiently – in other terms, robots will be soft.
This chapter discusses the design, modeling and control of actuators for the new generation of soft robots, which can replace conventional actuators in applications where rigidity is not the first and foremost concern in performance. The chapter focuses on the technology, modeling, and control of lumped parameters of soft robotics, that is, systems of discrete, interconnected, and compliant elements. Distributed parameters, snake-like and continuum soft robotics, are presented in Chap. 20, while Chap. 23 discusses in detail the biomimetic motivations that are often behind soft robotics.
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Abbreviations
- AA:
-
agonist–antagonist
- AMASC:
-
actuator with mechanically adjustable series compliance
- CMCs:
-
ceramic matrix composite
- CNT:
-
carbon nanotube
- CVT:
-
continuous variable transmission
- DOF:
-
degree of freedom
- EAP:
-
electroactive polymer
- ECD:
-
eddy current damper
- ER:
-
electrorheological
- FD:
-
friction damper
- ILQR:
-
iterative linear quadratic regulator
- IPMC:
-
ionic polymer-metal composite
- KERS:
-
kinetic energy recovery system
- LQR:
-
linear quadratic regulator
- LWR:
-
light-weight robot
- MACCEPA:
-
mechanically adjustable compliance and controllable equilibrium position actuator
- MEMS:
-
microelectromechanical system
- MIA:
-
mechanical impedance adjuster
- MMC:
-
metal matrix composite
- MR:
-
magnetorheological
- NMMI:
-
natural machine motion initiative
- OC:
-
optimal control
- ODE:
-
ordinary differential equation
- PAM:
-
pneumatic artificial muscle
- PANi:
-
polyaniline
- PLZT:
-
lead lanthanum zirconate titanate
- PMC:
-
polymer matrix composite
- PPy:
-
polypyrrole
- PVDF:
-
polyvinylidene fluoride
- PZT:
-
lead zirconate titanate
- SEA:
-
series elastic actuator
- SMA:
-
shape memory alloy
- SMP:
-
shape memory polymer
- TCP:
-
tool center point
- VIA:
-
variable impedance actuator
- VS-Joint:
-
variable stiffness joint
- VSA:
-
variable stiffness actuator
- WAM:
-
whole-arm manipulator
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IEEE Robotics and Automation Society Technical Committee on Soft Robotics: http://www.ieee-ras.org/soft-robotics
Natural Machine Motion Initiative: http://naturalmachinemotion.com
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Video-References
Video-References
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Variable impedance actuators: Moving the robots of tomorrow available from http://handbookofrobotics.org/view-chapter/21/videodetails/456
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Petman tests camo available from http://handbookofrobotics.org/view-chapter/21/videodetails/457
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Introducing WildCat available from http://handbookofrobotics.org/view-chapter/21/videodetails/458
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VSA CubeBot – peg in hole available from http://handbookofrobotics.org/view-chapter/21/videodetails/460
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DLR Hand Arm System smashed with baseball bat available from http://handbookofrobotics.org/view-chapter/21/videodetails/461
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Safety evaluation of lightweight robots available from http://handbookofrobotics.org/view-chapter/21/videodetails/463
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Hammering task with the DLR Hand Arm System available from http://handbookofrobotics.org/view-chapter/21/videodetails/464
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Dynamic walking of whole-body compliant humanoid COMAN available from http://handbookofrobotics.org/view-chapter/21/videodetails/465
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Dynamic walking of whole-body compliant humanoid COMAN available from http://handbookofrobotics.org/view-chapter/21/videodetails/466
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Maccepa System available from http://handbookofrobotics.org/view-chapter/21/videodetails/467
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AMASC – changing stiffness available from http://handbookofrobotics.org/view-chapter/21/videodetails/468
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VSA-Cube: Arm with high and low stiffness preset available from http://handbookofrobotics.org/view-chapter/21/videodetails/470
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CompAct™ robotics technology available from http://handbookofrobotics.org/view-chapter/21/videodetails/471
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VSA-Cube arm: Drawing on a wavy surface (high stiffness) available from http://handbookofrobotics.org/view-chapter/21/videodetails/472
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Arm drawing on a wavy surface (low stiffness) available from http://handbookofrobotics.org/view-chapter/21/videodetails/473
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Arm drawing on a wavy surface (selective stiffness) available from http://handbookofrobotics.org/view-chapter/21/videodetails/474
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Intrinsically elastic robots: The key to human like performance (Best Video Award) available from http://handbookofrobotics.org/view-chapter/21/videodetails/475
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DLR Hand Arm System: Punching holes available from http://handbookofrobotics.org/view-chapter/21/videodetails/546
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DLR Hand Arm System throwing a ball and Justin catching it available from http://handbookofrobotics.org/view-chapter/21/videodetails/547
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Active damping control on the DLR Hand Arm System available from http://handbookofrobotics.org/view-chapter/21/videodetails/548
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Throwing a ball with the DLR VS-Joint available from http://handbookofrobotics.org/view-chapter/21/videodetails/549
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DLR Hand Arm System: Two arm manipulation available from http://handbookofrobotics.org/view-chapter/21/videodetails/550
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Full body compliant humanoid COMAN available from http://handbookofrobotics.org/view-chapter/21/videodetails/698
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AWAS-II available from http://handbookofrobotics.org/view-chapter/21/videodetails/699
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Albu-Schäffer, A., Bicchi, A. (2016). Actuators for Soft Robotics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_21
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