The project will develop methods for teams of robots to jointly overcome environmental hazards on the Moon by attaching to each other to form larger and more stable, maneuverable structures. The robots will use their interactions with the ground to form a map of safe and risky terrain, attach to each other as support when the ground traversal risk is high, move in a coordinated fashion once joined, and, once the maneuver has been successfully completed, separate to continue their original individual missions.
Objectives
The TRUSSES project will develop algorithms that provide robots with two main capabilities: 1) estimate robot-to-regolith interactions in order to plan safe maneuvers, and 2) plan truss formations and coordinated motions for robots to push and pull each other to safe locations. The system will be evaluated to verify risk estimation, risk avoidance, risk mitigation, and recovery from failure.
Current Personnel
Rachel Holladay (MEAM Postdoc)
Shivangi Misra (ESE PhD)
William Hoganson (ROBO Staff)
Eric Wang (CIS Undergrad)
Lori Brown (CIS Undergrad)
Neha Peddinti (CIS Undergrad)
Wilson Hu (CIS Undergrad)
Benjamin Aziel (MEAM Master's)
Paul Young (MEAM Master's)
Acknowledgments
The work is supported by NASA’s Lunar Surface Technology Research (LuSTR) 2023 program. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of this organization.
The advent of smart actuators with tunable material properties has given roboticists the power to design robots that can transition between hard and soft operational regimes. Robots are offered the ability to move with precision and with increased payload capacity in the former case or with safety and flexibility in the face of unpredictable disturbances in the latter. We develop such systems along with the relevant control algorithms to demonstrate the versatility of these new class of robots.
Ongoing Work
Novel tunable stiffness actuators with closely coupled sensing.
Real-time algorithms to control multiple tunable stiffness DOFs of a soft robot.
Distributed control of stiffnesses in randomly generated 2D networks for physical learning.
Dynamic soft hopping robot with untethered tunable-stiffness pneumatic actuation.
Related Publications
Misra, Shivangi; Sung, Cynthia
Online Optimization of Soft Manipulator Mechanics via Hierarchical Control (Conference)
7th IEEE-RAS International Conference on Soft Robotics (RoboSoft), 2024.
@conference{misra2024tsmb,
title = {Online Optimization of Soft Manipulator Mechanics via Hierarchical Control},
author = {Shivangi Misra and Cynthia Sung},
url = {https://youtu.be/DS2kEvccwYA?feature=shared
https://repository.upenn.edu/handle/20.500.14332/59590},
doi = {10.1109/RoboSoft60065.2024.10522004},
year = {2024},
date = {2024-04-14},
urldate = {2024-04-14},
booktitle = {7th IEEE-RAS International Conference on Soft Robotics (RoboSoft)},
abstract = {Actively tuning mechanical properties in soft robots is now feasible due to advancements in soft actuation technologies. In soft manipulators, these novel actuators can be distributed over the robot body to allow greater control over its large number of degrees of freedom and to stabilize local deformations against a range of disturbances. In this paper, we present a hierarchical policy for stiffness control for such a class of soft manipulators. The stiffness changes induce desired deformations in each segment, thereby influencing the manipulator’s end-effector position. The algorithm can be run as an online controller to influence the manipulator’s stable states – as we demonstrate in simulation – or offline as a design algorithm to optimize stiffness distributions – as we showcase in a hardware demonstration. Our proposed hierarchical control scheme is agnostic to the stiffness actuation method and can extend to other soft manipulators with nonuniform stiffness distributions.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
Actively tuning mechanical properties in soft robots is now feasible due to advancements in soft actuation technologies. In soft manipulators, these novel actuators can be distributed over the robot body to allow greater control over its large number of degrees of freedom and to stabilize local deformations against a range of disturbances. In this paper, we present a hierarchical policy for stiffness control for such a class of soft manipulators. The stiffness changes induce desired deformations in each segment, thereby influencing the manipulator’s end-effector position. The algorithm can be run as an online controller to influence the manipulator’s stable states – as we demonstrate in simulation – or offline as a design algorithm to optimize stiffness distributions – as we showcase in a hardware demonstration. Our proposed hierarchical control scheme is agnostic to the stiffness actuation method and can extend to other soft manipulators with nonuniform stiffness distributions.
@conference{chen2024design,
title = {Design and Characterization of a Pneumatic Tunable-Stiffness Bellows Actuator},
author = {Rongqian Chen and Jun Kwon and Wei-Hsi Chen and Cynthia Sung},
doi = {10.1109/RoboSoft60065.2024.10521916},
year = {2024},
date = {2024-04-13},
urldate = {2024-04-13},
booktitle = {IEEE-RAS International Conference on Soft Robotics (RoboSoft)},
abstract = {We introduce a self-contained pneumatic actuator capable of 1.43 times stiffness gain from 1332 N/m to 1913 N/m without needing an external air source or valve. The design incorporates an air chamber bellows and a spring bellows, connected and sealed. Stiffness modulation is achieved by altering the air chamber volume. We present an approach for computing the volume, pressurized force, and stiffness of a single bellows component, as well as methods for composing single bellows models to predict the change in stiffness of the dual bellows actuator as a function of air chamber compression. We detail the fabrication of the actuator and verify the models on the fabricated prototype. This actuator holds promise for future integration in tunable stiffness robots demanding high strength and adaptability in dynamic scenarios.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
We introduce a self-contained pneumatic actuator capable of 1.43 times stiffness gain from 1332 N/m to 1913 N/m without needing an external air source or valve. The design incorporates an air chamber bellows and a spring bellows, connected and sealed. Stiffness modulation is achieved by altering the air chamber volume. We present an approach for computing the volume, pressurized force, and stiffness of a single bellows component, as well as methods for composing single bellows models to predict the change in stiffness of the dual bellows actuator as a function of air chamber compression. We detail the fabrication of the actuator and verify the models on the fabricated prototype. This actuator holds promise for future integration in tunable stiffness robots demanding high strength and adaptability in dynamic scenarios.
@conference{misra2023design,
title = {Design and Control of a Tunable-Stiffness Coiled-Spring Actuator},
author = {Shivangi Misra and Mason Mitchell and Rongqian Chen and Cynthia Sung},
url = {https://repository.upenn.edu/grasp_papers/72/
https://youtu.be/52WVMEeGxUk
},
doi = {10.1109/ICRA48891.2023.10161218},
year = {2023},
date = {2023-05-30},
urldate = {2023-05-30},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
abstract = {We propose a novel design for a lightweight and compact tunable stiffness actuator capable of stiffness changes up to 20x. The design is based on the concept of a coiled spring, where changes in the number of layers in the spring change the bulk stiffness in a near-linear fashion. We present an elastica nested rings model for the deformation of the proposed actuator and empirically verify that the designed stiffness-changing spring abides by this model. Using the resulting model, we design a physical prototype of the tunable-stiffness coiled spring actuator and discuss the effect of design choices on the resulting achievable stiffness range and resolution. In the future, this actuator design could be useful in a wide variety of soft robotics applications, where fast, controllable, and local stiffness change is required over a large range of stiffnesses.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
We propose a novel design for a lightweight and compact tunable stiffness actuator capable of stiffness changes up to 20x. The design is based on the concept of a coiled spring, where changes in the number of layers in the spring change the bulk stiffness in a near-linear fashion. We present an elastica nested rings model for the deformation of the proposed actuator and empirically verify that the designed stiffness-changing spring abides by this model. Using the resulting model, we design a physical prototype of the tunable-stiffness coiled spring actuator and discuss the effect of design choices on the resulting achievable stiffness range and resolution. In the future, this actuator design could be useful in a wide variety of soft robotics applications, where fast, controllable, and local stiffness change is required over a large range of stiffnesses.
@conference{misra2022forward,
title = {Forward kinematics and control of a segmented tunable-stiffness 3-D continuum manipulator},
author = {Shivangi Misra and Cynthia Sung},
url = {https://repository.upenn.edu/grasp_papers/69/
https://youtu.be/P-vg3Hiuk4M
https://youtu.be/lc6W61xCWuQ},
doi = {10.1109/ICRA46639.2022.9812098},
year = {2022},
date = {2022-05-23},
urldate = {2022-05-23},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
abstract = {In this work, we consider the problem of controlling the end effector position of a continuum manipulator through local stiffness changes. Continuum manipulators offer the advantage of continuous deformation along their lengths, and recent advances in smart material actuators further enable local compliance changes, which can affect the manipulator's bulk motion. However, leveraging local stiffness change to control motion remains lightly explored. We build a kinematic model of a continuum manipulator as a sequence of segments consisting of symmetrically arranged springs around the perimeter of every segment, and we show that this system has a closed form solution to its forward kinematics. The model includes common constraints such as restriction of torsional or shearing movement. Based on this model, we propose a controller on the spring stiffnesses for a single segment and provide provable guarantees on convergence to a desired goal position. The results are verified in simulation and compared to physical hardware.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
In this work, we consider the problem of controlling the end effector position of a continuum manipulator through local stiffness changes. Continuum manipulators offer the advantage of continuous deformation along their lengths, and recent advances in smart material actuators further enable local compliance changes, which can affect the manipulator's bulk motion. However, leveraging local stiffness change to control motion remains lightly explored. We build a kinematic model of a continuum manipulator as a sequence of segments consisting of symmetrically arranged springs around the perimeter of every segment, and we show that this system has a closed form solution to its forward kinematics. The model includes common constraints such as restriction of torsional or shearing movement. Based on this model, we propose a controller on the spring stiffnesses for a single segment and provide provable guarantees on convergence to a desired goal position. The results are verified in simulation and compared to physical hardware.
Support for these projects has been provided by NSF Grant No. 1845339, the Johnson & Johnson WiSTEM2D Scholars Program, and the Army Research Office (ARO) under MURI award #W911NF1810327. Any opinions, findings, conclusions, or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of these organizations.
