| Project/Area Number |
20K14690
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | The University of Tokyo |
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Principal Investigator |
TA TUNG 東京大学, 大学院情報理工学系研究科(工学部), 助教 (20869226)
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Project Status |
Completed (Fiscal Year 2022)
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| Budget Amount *help |
¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
Fiscal Year 2021: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2020: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | Soft Robotics / Robotic Skin / Printable Robots / Bistable Structure / Adaptive Robot / Programmable Friction / Snake-like Soft Robots / 3D Print / bistable structure / snake-like soft-robot / anisotropic friction / programmable skin / snake-like / soft-robot / locomotion / simulation / body design / fabrication / Soft Robot / Snake-like Robot / Anisotropic Friction / Bistability / Tendon-driven / multimode friction / soft-bodied robot / snake-like robot / locomotion gaits / printable robots |
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| Outline of Research at the Start |
Inspired by the skin of a snake, we build a snake-like soft-bodied robot which changes its skin frictional behavior depending on the surrounding environment to move faster. By designing a dynamically changeable frictional surface, we enable the soft-bodied robot to adapt better to the environment.
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| Outline of Final Research Achievements |
We aimed to develop a programmable robotic skin for soft-bodied robots that could dynamically change its configuration to adapt to changing environments. Specifically, we focused on the case of snake-like soft-bodied robots and their locomotion in different frictional environments. We developed a simulator to predict the locomotion of a wriggling snake-like robot in different frictional configurations. Additionally, we investigated bistable structures that could be used to design self-configurable frictional patterns for the programmable robotic skin. We studied the mechanical properties and controllability of these bistable structures through numerical analysis and physical robot experiments. Our results are currently under review.
Based on our research on bistable structures and their controllability, we also worked on a bistable origami structure for lightweight jumpers. This research could serve as a precursor for further investigation into foldable, programmable soft robotic skins.
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| Academic Significance and Societal Importance of the Research Achievements |
This research elucidated the important factors in designing a programmable soft robotic skin. The design, simulation, and fabrication of illustrated in the research laid a foundation to design highly adaptive soft robots that will be used in environment exploration and safe human robot interaction.
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