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dc.contributor.authorMilana, Edoardo
dc.contributor.authorVan Raemdonck, Bert
dc.contributor.authorCasla, Andrea Serrano
dc.contributor.authorDe Volder, Michael
dc.contributor.authorReynaerts, Dominiek
dc.contributor.authorGorissen, Benjamin
dc.date.accessioned2022-01-28T16:33:37Z
dc.date.available2022-01-28T16:33:37Z
dc.date.issued2021
dc.date.submitted2021-10-01
dc.identifier.issn2296-9144
dc.identifier.other788067
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/333132
dc.description.abstractSoft robotic systems typically follow conventional control schemes, where actuators are supplied with dedicated inputs that are regulated through software. However, in recent years an alternative trend is being explored, where the control architecture can be simplified by harnessing the passive mechanical characteristics of the soft robotic system. This approach is named "morphological control", and it can be used to decrease the number of components (tubing, valves and regulators) required by the controller. In this paper, we demonstrate morphological control of bio-inspired asymmetric motions for systems of soft bending actuators that are interconnected with passive flow restrictors. We introduce bending actuators consisting out of a cylindrical latex balloon in a flexible PVC shell. By tuning the radii of the tube and the shell, we obtain a nonlinear relation between internal pressure and volume in the actuator with a peak and valley in pressure. Because of the nonlinear characteristics of the actuators, they can be assembled in a system with a single pressure input where they bend in a discrete, preprogrammed sequence. We design and analyze two such systems inspired by the asymmetric movements of biological cilia. The first replicates the swept area of individual cilia, having a different forward and backward stroke, and the second generates a travelling wave across an array of cilia.
dc.languageen
dc.publisherFrontiers Media SA
dc.subjectRobotics and AI
dc.subjectmorphological control
dc.subjectembodied intelligence
dc.subjectnonlinear soft bending actuators
dc.subjectbioinspiration
dc.subjectartificial cilia
dc.titleMorphological Control of Cilia-Inspired Asymmetric Movements Using Nonlinear Soft Inflatable Actuators.
dc.typeArticle
dc.date.updated2022-01-28T16:33:36Z
prism.publicationNameFront Robot AI
prism.volume8
dc.identifier.doi10.17863/CAM.80555
dcterms.dateAccepted2021-11-29
rioxxterms.versionofrecord10.3389/frobt.2021.788067
rioxxterms.versionVoR
rioxxterms.licenseref.urihttp://creativecommons.org/licenses/by/4.0/
dc.contributor.orcidDe Volder, Michael [0000-0003-1955-2270]
dc.identifier.eissn2296-9144
cam.issuedOnline2022-01-03


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