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Energy Harvesting for Robots with Adaptive Morphology
Shiv A Katiyar1, Loong Yi Lee1, Fumiya Iida2
1School of Engineering and Advanced Engineering Platform, Monash University, Bandar Sunway, Malaysia.
Soft Robotics
|October 27, 2022
Summary
This study shows that harvesting energy at opportune moments, rather than maximizing harvest capacity, boosts the efficiency of soft robots. Robot shape significantly impacts energy use and harvesting feedback for improved locomotion.
Area of Science:
- Robotics
- Soft Robotics
- Energy Harvesting
Background:
- Soft robots offer advantages in confined spaces due to adaptive morphology.
- Improving energy efficiency in soft robots remains a challenge.
- Harvesting energy from soft robot motion is complicated by complex dynamics.
Purpose of the Study:
- To investigate the relationship between a soft robot's morphology, control, and energy harvesting for improved efficiency.
- To test the hypothesis that energy harvesting strategies must adapt to robot morphology.
- To pioneer methods for harvesting energy from soft robot locomotion.
Main Methods:
- Developed a shape-changing soft robot with an elastic structure.
- Utilized a single motor for vibration-induced locomotion.
- Characterized robot dynamics through resonance frequencies.
- Investigated energy harvesting at opportune moments versus maximum capacity.
Main Results:
- Demonstrated that opportune energy harvesting is more critical for efficiency than maximizing harvest capacity.
- Showcased how robot shape influences locomotion energy consumption.
- Revealed that harvested energy can feedback to increase motion magnitude and alter behavior.
Conclusions:
- Robot morphology plays a crucial role in energy utilization and harvesting.
- Understanding morphology-shape-energy dynamics enables enhanced energy harvesting for soft robots.
- This research provides a framework for designing more energy-efficient soft robots.
