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RUBIC: An Untethered Soft Robot With Discrete Path Following.
Hsing-Yu Chen1,2, Richard Suphapol Diteesawat1,3, Alice Haynes1,4
1Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom.
Frontiers in Robotics and AI
|January 27, 2021
Summary
This study introduces RUBIC, a novel soft robot that overcomes control challenges by moving in a discretized 2D space. Its rolling locomotion enables stable platforms for hazardous environments.
Area of Science:
- Robotics
- Soft Robotics
- Control Systems
Background:
- Soft robots offer adaptability but present control challenges due to their compliance.
- Existing soft robot control methods can be complex, especially in 2D environments.
Purpose of the Study:
- To present RUBIC (Rolling, Untethered, Ballooning, Intelligent Cube), a soft robot designed for controlled 2D locomotion.
- To demonstrate a novel gait for soft robots enabling stable platforms and obstacle traversal.
Main Methods:
- Designed a cube-shaped soft robot with pneumatic ballooning actuators on each face for locomotion.
- Developed control systems for rolling gait, obstacle climbing, and operation within a discretized Cartesian space.
- Investigated design and fabrication constraints including materials and control fidelity.
Main Results:
- RUBIC achieves locomotion by rolling between faces, constrained to a 2D grid.
- The robot demonstrates stable resting positions suitable for various tasks.
- RUBIC exhibits a mean locomotion accuracy of 4.58° deviation and can climb steps up to 35% of its height.
Conclusions:
- Discretizing the workspace of soft robots, as shown with RUBIC, enhances safe and predictable locomotion.
- RUBIC's design offers a stable platform for applications in structured and hazardous environments.
- The proposed locomotion scheme improves speed, linearity, and travel distance.
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