A Platform for Hierarchical Data-Driven Design, Fabrication, and Control of Modular Soft Robots with Slender Beams for Locomotion and Manipulation

Research Project

Project/Area Number	23K26071
Project/Area Number (Other)	23H01376 (2023)
Research Category	Grant-in-Aid for Scientific Research (B)
Allocation Type	Multi-year Fund (2024) Single-year Grants (2023)
Section	一般
Review Section	Basic Section 20020:Robotics and intelligent system-related
Research Institution	The University of Tokyo
Principal Investigator	タデゥックトゥン東京大学, 大学院情報理工学系研究科, 助教 (20869226)
Co-Investigator(Kenkyū-buntansha)	千葉滋東京大学, 大学院情報理工学系研究科, 教授 (80282713) 川原圭博東京大学, 大学院工学系研究科(工学部), 教授 (80401248)
Project Period (FY)	2023-04-01 – 2027-03-31
Project Status	Granted (Fiscal Year 2024)
Budget Amount *help	¥18,980,000 (Direct Cost: ¥14,600,000、Indirect Cost: ¥4,380,000) Fiscal Year 2026: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000) Fiscal Year 2025: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000) Fiscal Year 2024: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000) Fiscal Year 2023: ¥8,970,000 (Direct Cost: ¥6,900,000、Indirect Cost: ¥2,070,000)
Keywords	Body Design / Modularization / Morphology / Soft Sensors / Soft Robots / Soft sensors / Soft robots
Outline of Research at the Start	- Vision: Robust and versatile printable soft-bodied robots for environment exploration, object manipulation, and human interaction. - Challenges: We lack a systematic approach to body design, fabrication, and control of the continuum of soft-bodied robots. - Proposal: We will develop hierarchical data-driven learning-based algorithms (reinforcement and curriculum learning) to guide modular soft-bodied robots design and controlling process. - Impact: Accelerate the development and adoption of soft robotics by helping design versatile soft robots for multiple tasks.