Events Calendar

Title: Design Modeling and Measurement of Continuous and Compliant Robots

Presented by: Audrey Sedal, PhD candidate, University of Michigan

Abstract: Continuous, compliant robots exhibit morphologically intelligent behaviors. They can deflect around obstacles, handle delicate objects, and match impedance with their environments. Yet, these systems are more difficult to design, model, and control in the same situations where their potential is most apparent. This presentation discusses synergistic techniques for design, modeling, and measurement of systems whose shapes and behaviors do not necessarily fit in to traditional robotics frameworks. In particular, I will 1) outline a new continuum mechanical model for soft, fluidic actuators, 2) provide a broad, experiment-based comparison of distinctive modeling approaches for use in robotics contexts and 3) demonstrate how mechanical meta-materials can be used in design and modeling of compliant robotic devices. The design frameworks and experimental framework presented here will help to create new compact, resilient devices capable of sophisticated motions for manufacturing automation, haptics, and manipulation of fragile objects.