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Topology and Morphology Design of Spherically Reconfigurable Homogeneous Modular Soft Robots.

Caitlin Freeman1, Michael Maynard1, Vishesh Vikas1

  • 1Agile Robotics Lab, Department of Mechanical Engineering, University of Alabama, Tuscaloosa, Alabama, USA.

Soft Robotics
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Summary

Researchers designed novel Modular Soft Robots (MSoRos) capable of transforming between planar and spherical shapes. This innovation enables robots to explore environments and then roll away efficiently using soft materials.

Keywords:
modular robotsmorphology designspherical reconfigurationterrestrial robotstopology design

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Area of Science:

  • Robotics
  • Soft Materials Science
  • Geometric Design

Background:

  • Soft robots offer unique advantages in adaptability and locomotion.
  • Reconfiguring between spherical and planar forms presents geometric challenges due to curvature disparities.
  • Existing soft robot designs have not explored this sphere-plane reconfiguration capability.

Purpose of the Study:

  • To present the first topology and morphology design for Modular Soft Robots (MSoRos) capable of reconfiguring between spherical and planar configurations.
  • To establish a geometric methodology for designing MSoRos that exploit soft material properties for dimensional change.
  • To enable robots to transition from exploration in a planar form to efficient locomotion in a spherical form.

Main Methods:

  • Utilizing Platonic solids to determine module count and sphere radius for reconfiguration.
  • Employing inverse orthographic and azimuthal projections to derive spherical and planar topologies from a module-topology curve.
  • Manipulating cavity geometry to adjust limb stiffness and curling ability for actuation between configurations.
  • Developing a scale-invariant topology design and optimizing the module-topology curve using an intramodular distortion metric.

Main Results:

  • Successful design of MSoRos with topology and morphology for sphere-plane reconfiguration.
  • Demonstration of a scale-invariant design principle based on Platonic solids.
  • Optimization of module geometry for effective limb stiffness, curling ability, and actuator integrity.
  • Quantification of sphere-to-plane distortion to improve reconfiguration and locomotion.

Conclusions:

  • The presented geometric approach enables the design of MSoRos capable of significant dimensional change.
  • This work lays the foundation for developing adaptable soft robots that can navigate diverse terrains and operational modes.
  • The scale-invariant topology and optimized module design offer a pathway for creating versatile, reconfigurable robotic systems.