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Actuators for Soft Robotics

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Springer Handbook of Robotics

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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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Authors and Affiliations

  1. DLR Institute of Robotics and Mechatronics, Münchner Strasse 20, 82230, Wessling, Germany

    Alin Albu-Schäffer

  2. Interdepartmental Research Center “E. Piaggio”, University of Pisa, Largo Lucio Lazzarino 1, 56122, Pisa, Italy

    Antonio Bicchi

Authors
  1. Alin Albu-Schäffer
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  2. Antonio Bicchi
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Correspondence to Antonio Bicchi .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

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

:

AMASC – changing stiffness available from http://handbookofrobotics.org/view-chapter/21/videodetails/468

:

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

:

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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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_21

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32550-7

  • Online ISBN: 978-3-319-32552-1

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