DOCSLIB.ORG

The Introduction and Analysis of a Novel Soft Actuator for a Soft Continuum Robot Arm

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
The Introduction and Analysis of a Novel Soft Actuator for a Soft Continuum Robot Arm THE INTRODUCTION AND ANALYSIS OF A NOVEL SOFT ACTUATOR FOR A SOFT CONTINUUM ROBOT ARM A DISSERTATION Presented in partial fulfillment of the requirement for the Master of Science in mechanical engineering in the Swenson college of science and engineering By Zahra Sadat Navabi Ghamsari Advisor Dr. Debao Zhou University of Minnesota Duluth July 2018 Copyright page Zahra Sadat Navabi Ghamsari (2018) © University of Minnesota Duluth Thesis Committee members • Dr. Debao Zhou, chair • Dr. Michel Greminger • Dr. Jiann-Shiou Yang Acknowledgement I would like to thank Dr. Maps from the physics department at the University of Minnesota Duluth because of his generous help during my research. I also would like to thank my advisor, Dr. Zhou for all his support and guidance. In the end, I thank my family for all their support and cares. i Abstract In this research, a novel pneumatic soft actuator for continuum robot arm has been designed, partially modeled and manufactured. The actuator is consisting of a single tube made of silicone rubber, some elastic rings around the tube that partially divide the tube into different sections and shape-memory alloy (SMA) springs that connects the rings to each other. By increasing pressure inside the tube, the tube starts inflating in a nonuniform manner due to the existence of the rings on the surface of the tube and the nonlinear behavior of the silicone rubber. By activating SMA springs on the surface of different sections of the tube, the inflated region on the tube will be controlled. The actuator has been manufactured and tested individually. To manufacture the tube, the commercial Eco-flex 030 epoxy has been used and been molded using commercially available Bic pens as a mold. The change in the behavior of the silicone rubber tube after adding each element to the tube has been studied to monitor the change in the nonlinear behavior of the tube. The SAM springs have been made by training nitinol wires from the Flexinol company into springform. The SMA springs properties have been calculated to match the required property of the system. The behavior of the resulted actuator has been studied both during actuation and deactivation of the SMA springs. To model the behavior of the actuator, the properties of silicon rubber has been extracted by conducting required mechanical tests. Later, by fitting the results to different hyperplastic models the behavior of Eco-flex 030 has been modeled. To choose the best ii model, the behavior of the silicone rubber tube trough changing in pressure has been simulated using Ansys. The material model with closest results to the actual experimental model have been chosen. Due to the nonlinearity of the silicone rubber, the volume- pressure change inside the tube exhibits instability in the related function which is the result of both the material property and the geometry of the system. This will result in instability and failure of the solver. Therefore, the comparison between the different models was made by comparing the instability pressure. The presented actuator has the advantage of needing less number of air supplies to have the same degree of freedom compared to the conventional pneumatic actuators, thanks to utilizing the instability of silicone rubber. iii Table of Contents Acknowledgement ............................................................................................................................ i Abstract ............................................................................................................................................ ii Table of Contents ............................................................................................................................ iv Tables list ........................................................................................................................................ vi Figures list ...................................................................................................................................... vii Chapter 1- Introduction ................................................................................................................... 1 Background .................................................................................................................................. 1 Motivation ................................................................................................................................... 4 Scope ............................................................................................................................................ 5 Chapter 2- Review of literature ....................................................................................................... 6 Soft actuators .............................................................................................................................. 6 a) Electroactive Polymer Actuators (EPA) ................................................................................ 6 b) Shape Memory Alloys (SMA) ............................................................................................... 7 c) Pnumatics Channels Inside Elastomers ................................................................................ 9 Pneumatic continuum robot arms ............................................................................................ 11 Harnessing the instability of material ...................................................................................... 13 Problem summery ..................................................................................................................... 14 Chapter 3- Modeling the nonlinearity of silicone elastomer ......................................................... 15 Hyperplastic material models ................................................................................................... 15 Silicone elastomer mechanical properties ............................................................................... 20 Modeling the instability of silicon rubber tube........................................................................ 24 Effect of thickness on the instability feature ........................................................................... 30 Chapter 4- Actuator design ............................................................................................................ 33 iv Design concept of the proposed actuator ................................................................................ 33 SMA springs design ................................................................................................................... 37 Assembling the actuator parts .................................................................................................. 41 Chapter 5- Actuator test results .................................................................................................... 42 Chapter 6- Discussion .................................................................................................................... 45 Future works .............................................................................................................................. 47 References ..................................................................................................................................... 48 v Tables list Table 1 Different models constants from experiment....................................................... 25 Table 2 Change in average element size vs time for different hyper elastic models ........ 28 Table 3 The instability pressure for different models ....................................................... 29 Table 4 The comparison between the instability pressure in different wall thicknesses .. 32 Table 5 Variable values for defining the spring dimensions ............................................ 40 Table 6 Thermal behavior of nitinol wire [47] ................................................................. 43 vi Figures list Figure 1 The uniaxial tension test specimen dimensions in inches .................................. 20 Figure 2 Tensile testing equipment ................................................................................... 21 Figure 3 Uniaxial stress strain curve for Eco flex 030...................................................... 22 Figure 4 stress relaxation test results for eco flex 030 ...................................................... 22 Figure 5 The biaxial test specimen dimensions in mm ..................................................... 24 Figure 6 Instron biaxial plana testing machine ................................................................. 24 Figure 7 Equibiaxial tension test result ............................................................................. 24 Figure 8 Curve fitting result for neo Hookean model ....................................................... 25 Figure 9 Curve fitting result for Mooney Rivlin 2 model ................................................. 25 Figure 10 Curve fitting result for Gent model .................................................................. 25 Figure 11 Curve fitting result for Ogden order 2 model ................................................... 25 Figure 12 Tube model geometry ....................................................................................... 26 Figure 13 Partially inflated tube simulated in Ansys ........................................................ 27 Figure 14 Neo Hookean simulation results ......................................................................
Load more

Recommended publications
  • Capability by Stacking: the Current Design Heuristic for Soft Robots
    biomimetics Review Capability by Stacking: The Current Design Heuristic for Soft Robots Stephen T. Mahon 1 ID , Jamie O. Roberts 1,2, Mohammed E. Sayed 1, Derek Ho-Tak Chun 1,2 ID , Simona Aracri 1, Ross M. McKenzie 1,2, Markus P. Nemitz 1,3 and Adam A. Stokes 1,* 1 School of Engineering, The Institute for Integrated Micro and Nano Systems, The University of Edinburgh, The King’s Buildings, Edinburgh EH9 3LJ, UK; [email protected] (S.T.M.); [email protected] (J.O.R.); [email protected] (M.E.S.); [email protected] (D.H.-T.C.); [email protected] (S.A.); [email protected] (R.M.M.); [email protected] (M.P.N.) 2 Engineering and Physical Sciences Research Council (EPSRC) Centre for Doctoral Training (CDT) in Robotics and Autonomous Systems, School of Informatics, The University of Edinburgh, Edinburgh EH9 3LJ, UK 3 Department of Computer Science and Engineering, University of Michigan, 2260 Hayward St. BBB3737, Ann Arbor, MI 48109, USA * Correspondence: [email protected]; Tel.: +44-131-650-5611 Received: 1 June 2018; Accepted: 10 July 2018; Published: 13 July 2018 Abstract: Soft robots are a new class of systems being developed and studied by robotics scientists. These systems have a diverse range of applications including sub-sea manipulation and rehabilitative robotics. In their current state of development, the prevalent paradigm for the control architecture in these systems is a one-to-one mapping of controller outputs to actuators.
    [Show full text]
  • Concevoir Et Animer Pour L'acceptation De Robots
    Concevoir et animer pour l’acceptation de robots zoomorphiques Adrien Gomez To cite this version: Adrien Gomez. Concevoir et animer pour l’acceptation de robots zoomorphiques. Art et histoire de l’art. Université Toulouse le Mirail - Toulouse II, 2018. Français. NNT : 2018TOU20048. tel- 02466318 HAL Id: tel-02466318 https://tel.archives-ouvertes.fr/tel-02466318 Submitted on 4 Feb 2020 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Délivré par Université Toulouse – Jean Jaurès Adrien Gomez Le 30 Août 2018 Concevoir et Animer pour l’Acceptation de Robots Zoomorphiques École doctorale et discipline ou spécialité ED ALLPH@: Études audiovisuelles Unité de recherche LARA (Université Toulouse Jean Jaurès) – LIRMM (Université Montpellier) Directeur(s) de Thèse M. Gilles METHEL M. René Zapata Co-encadrant de Thèse M. Sébastien Druon Jury Chu-Yin Chen, Professeure, université Paris 8 Sylvie Lelandais, Professeure, Université Evry-Val d’Essonnes Gilles Methel, Professeur, Université Toulouse2-Jean Jaurès René Zapata, Professeur, LIRMM Montpellier Sébastien
    [Show full text]
  • Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human–
    REVIEW www.advmat.de Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human–Robot Interface Jiaqing Xiong, Jian Chen, and Pooi See Lee* excellent mechanical adaptability to enable Soft robotics inspired by the movement of living organisms, with excellent safe and friendly interactions with human. adaptability and accuracy for accomplishing tasks, are highly desirable for Fiber that has been known for thousands efficient operations and safe interactions with human. With the emerging of years for textile engineering, is a kind of wearable electronics, higher tactility and skin affinity are pursued for safe thin 1D material with large length–diam- eter ratio and softness. Fiber can be fur- and user-friendly human–robot interactions. Fabrics interlocked by fibers ther processed into 1D or 3D yarns and 2D perform traditional static functions such as warming, protection, and or 3D fabrics and can be subjected to well- fashion. Recently, dynamic fibers and fabrics are favorable to deliver active established textile manufacturing tech- stimulus responses such as sensing and actuating abilities for soft-robots niques, such as dyeing, twisting, sewing, [1] and wearables. First, the responsive mechanisms of fiber/fabric actuators and knitting, weaving, braiding, etc. As com- mercially available material, fabric has their performances under various external stimuli are reviewed. Fiber/yarn- been widely used for clothing, bedding, based artificial muscles for soft-robots manipulation and assistance in human or furniture. Such wide-adoption dem- motion are discussed, as well as smart clothes for improving human percep- onstrates fabrics/textiles to be important tion. Second, the geometric designs, fabrications, mechanisms, and functions and adaptable as daily useable material of fibers/fabrics for sensing and energy harvesting from the human body and due to their merits of protection, breatha- [2] environments are summarized.
    [Show full text]
  • The Grand Challenges of Science Robotics Exclusive Licensee Guang-Zhong Yang,1* Jim Bellingham,2 Pierre E
    SCIENCE ROBOTICS | PERSPECTIVE ROBOTICS Copyright © 2018 The Authors, some rights reserved; The grand challenges of Science Robotics exclusive licensee Guang-Zhong Yang,1* Jim Bellingham,2 Pierre E. Dupont,3 Peer Fischer,4,5 Luciano Floridi,6,7,8,9,10 American Association 11 12,13 14 15 1 for the Advancement Robert Full, Neil Jacobstein, Vijay Kumar, Marcia McNutt, Robert Merrifield, of Science. No claim 16 17,18 7,8,9 19 Bradley J. Nelson, Brian Scassellati, Mariarosaria Taddeo, Russell Taylor, to original U.S. 20 21 22,23 Manuela Veloso, Zhong Lin Wang, Robert Wood Government Works One of the ambitions of Science Robotics is to deeply root robotics research in science while developing novel robotic platforms that will enable new scientific discoveries. Of our 10 grand challenges, the first 7 represent underpin- ning technologies that have a wider impact on all application areas of robotics. For the next two challenges, we have included social robotics and medical robotics as application-specific areas of development to highlight the substantial societal and health impacts that they will bring. Finally, the last challenge is related to responsible in- novation and how ethics and security should be carefully considered as we develop the technology further. Downloaded from INTRODUCTION great strides in realizing its mission of power- ing components into synthetic structures to Just over a year ago, we published the first issue ing the world’s robots, from space robot chal- create robots that perform like natural systems. of Science Robotics. Even within this relatively lenges to autonomous driving, industrial (iii) New power sources, battery technol- short period of time, remarkable progress has assembly, and surgery.
    [Show full text]
  • On-Board Pneumatic Pressure Generation Methods for Soft Robotics Applications
    Review On-Board Pneumatic Pressure Generation Methods for Soft Robotics Applications Momme Adami and Arthur Seibel * Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, Germany; [email protected] * Correspondence: [email protected] Received: 14 November 2018; Accepted: 20 December 2018; Published: 23 December 2018 Abstract: The design and construction of a soft robot are challenging tasks on their own. When the robot is supposed to operate without a tether, it becomes even more demanding. While a tethered operation is sufficient for a stationary use, it is impractical for wearable robots or performing tasks that demand a high mobility. Choosing and implementing an on-board pneumatic pressure source are particularly complex tasks. There are several different pressure generation methods to choose from, each with very different properties and ways of implementation. This review paper is written with the intention of informing about all pressure generation methods available in the field of soft robotics and providing an overview of the abilities and properties of each method. Nine different methods are described regarding their working principle, pressure generation behavior, energetic considerations, safety aspects, and suitability for soft robotics applications. All presented methods are evaluated in the most important categories for soft robotics pressure sources and compared to each other qualitatively and quantitatively as far as possible. The aim of the results presented is to simplify the choice of a suitable pressure generation method when designing an on-board pressure source for a soft robot. Keywords: soft robotics; soft actuators; on-board pneumatic pressure generation 1.
    [Show full text]
  • A Comprehensive and Modular Robotic Control Framework for Model-Less Control Law Development Using Reinforcement Learning for Soft Robotics
    University of Texas at El Paso ScholarWorks@UTEP Open Access Theses & Dissertations 2020-01-01 A Comprehensive And Modular Robotic Control Framework For Model-Less Control Law Development Using Reinforcement Learning For Soft Robotics Charles Sullivan University of Texas at El Paso Follow this and additional works at: https://scholarworks.utep.edu/open_etd Part of the Artificial Intelligence and Robotics Commons, and the Robotics Commons Recommended Citation Sullivan, Charles, "A Comprehensive And Modular Robotic Control Framework For Model-Less Control Law Development Using Reinforcement Learning For Soft Robotics" (2020). Open Access Theses & Dissertations. 3197. https://scholarworks.utep.edu/open_etd/3197 This is brought to you for free and open access by ScholarWorks@UTEP. It has been accepted for inclusion in Open Access Theses & Dissertations by an authorized administrator of ScholarWorks@UTEP. For more information, please contact [email protected]. A COMPREHENSIVE AND MODULAR ROBOTIC CONTROL FRAMEWORK FOR MODEL-LESS CONTROL LAW DEVELOPMENT USING REINFORCEMENT LEARNING FOR SOFT ROBOTICS CHARLES EDWARD SULLIVAN Master’s Program in Computer Engineering APPROVED: Robert C. Roberts, Ph.D. Daniel DeBlasio, Ph.D. Patricia Nava, Ph.D. Miguel Velez-Reyes, Ph.D. __________________________________ Stephen L. Crites, Jr., Ph.D. Dean of The Graduate School Copyright © by Charles Sullivan 2020 A COMPREHENSIVE AND MODULAR ROBOTIC CONTROL FRAMEWORK FOR MODEL-LESS CONTROL LAW DEVELOPMENT USING REINFORCEMENT LEARNING FOR SOFT ROBOTICS by CHARLES EDWARD SULLIVAN B.S. THESIS Presented to the Faculty of the Graduate School of The University of Texas El Paso in Partial Fulfillment of the Requirements for the Degree of MASTER OF SCIENCE Department of Electrical and Computer Engineering UNIVERSITY OF TEXAS AT EL PASO December 2020 ACKNOWLEDGEMENTS I would like to start of thanking my advisor Dr.
    [Show full text]
  • Extreme Mechanics Letters Bio-Inspired Soft Robotics
    Extreme Mechanics Letters 22 (2018) 51–59 Contents lists available at ScienceDirect Extreme Mechanics Letters journal homepage: www.elsevier.com/locate/eml Bio-inspired soft robotics: Material selection, actuation, and design Stephen Coyle a, Carmel Majidi a, Philip LeDuc a, K. Jimmy Hsia a,b, * a Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States b Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States article info a b s t r a c t Article history: Animals exploit the deformability of soft structures to move efficiently in complex natural environments. Received 27 December 2017 These soft structures are inherently compliant and enable large strains in components not typically Received in revised form 17 April 2018 found in robotics. Such capabilities have inspired robotic engineers to incorporate soft technologies Accepted 22 May 2018 into their designs. One goal in soft robotics is to endow robots with new, bioinspired features that Available online 2 June 2018 permit morphologically adaptive interactions with unpredictable environments. Here, we review three key elements of bioinspired soft robots from a mechanics vantage point, namely, materials selection, Keywords: Morphology actuation, and design. Soft materials are necessary for safe interaction and overall actuation of bio- Biomimetic inspired robots. The intrinsic properties of materials in soft robots allow for an ``embodied intelligence'' Pneumatic Artificial Muscle (PAM) that can potentially reduce the mechanical and algorithmic complexity in ways not possible with rigid- Material jamming bodied robots Finally, soft robotics can be combined with tissue engineering and synthetic biology to Bio-hybrid create bio-hybrid systems with unique sensing, dynamic response, and mobility.
    [Show full text]
  • Mechanical Engineering Magazine Advisory Board Harry Armen; Leroy S
    Mechanical Technology that moves the world THE MAGAZINE OF ASME No. 11 138 Go ahead, i'm listening... Artificial intelligence and voice recognition will change how we design everything. TRADING ENERGY FOR WATER PAGE 38 THE NANOSCALE FRONTIER PAGE 44 A CELEBRATION OF ENGINEERING PAGE 49 ASME.ORG NOVEMBER 2016 Advertisement LOG ON ASME.ORG MECHANICAL ENGINEERING 01 | NOVEMBER 2016 | P. For these articles and other content, visit asme.org. Tomorrow’s Taller turbine Towers Today’s on-shore wind turbines are no taller than 262 feet due to transportation limitations. But taller towers can harvest more wind. Now Iowa State University researchers have FROM TRACTOR- developed a modular concrete construction TRAILERS TO method to help them reach for the sky. SELF-DRIVING MACHINES Innovations and Efficiencies CALIFORNIA-BASED STARTUP, founded by self-driving experts, is develop- in Nuclear Technologies ing a $30,000 kit to convert recently built long-haul trailer trucks into Westinghouse executives Mark self-driving vehicles. Ottomotto LLC, which goes by the name Otto, has Fecteau and Matt Dryden talk about changing already bought and outfitted four trucks and is testing the technology on demographics in the nuclear power market, public highways. The trucks where Asia continues to lead in growth. areA equipped with hardware—such as cameras and sensors—and sophis- ticated, customized software. Otto is getting ready to put out a call for truckers to provide feedback on which routes they would like to see served NEXT MONTH ON ASME.ORG and to volunteer to test the system on their own trucks. GRID-SCALE ENERGY STORAGE PROJECT USES TRAINS, NOT WATER A 50 MW energy storage project in Nevada draws on the principles of a pumped- 3-D Printing Robots storage hydroelectric project.
    [Show full text]
  • Resilient Robots: Concept, Review, and Future Directions
    robotics Review Resilient Robots: Concept, Review, and Future Directions Tan Zhang 1, Wenjun Zhang 2,3,* and Madan M. Gupta 3 1 Department of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada; [email protected] 2 School of Mechatronics and Automation, Shanghai University, Shanghai 200444, China 3 Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada; [email protected] * Correspondence: [email protected] Received: 12 August 2017; Accepted: 18 September 2017; Published: 25 September 2017 Abstract: This paper reviews recent developments in the emerging field of resilient robots and the related robots that share common concerns with them, such as self-reconfigurable robots. This paper addresses the identity of the resilient robots by distinguishing the concept of resilience from other similar concepts and summarizes the strategies used by robots to recover their original function. By illustrating some issues of current resilient robots in the design of control systems, physical architecture modules, and physical connection systems, this paper shows several of the possible solutions to facilitate the development of the new and improved robots with higher resilience. The conclusion outlines several directions for the future of this field. Keywords: resilient robot; self-recovery; self-reconfigurable robot; connection system 1. Introduction Biological systems have the ability to recover themselves from severe damage such as lost limbs by creating new compensatory behaviors. Although such properties would be desirable in robotic systems, most robotic systems tend to fail due to material degradation and/or unanticipated disturbances from the world environment. Many applications such as space exploration and rescue tasks in dangerous tasks often require self-recovery abilities and resilient robots are considered as one of the solutions.
    [Show full text]
  • 100 Radical Innovation Breakthroughs for the Future Foresight
    Foresight 100 Radical Innovation Breakthroughs for the future EN 100 Radical Innovation Breakthroughs for the future European Commission Directorate-General for Research and Innovation Directorate A — Policy Development and Coordination Unit A.2 — Research & Innovation Strategy Contact Nikolaos Kastrinos E-mail [email protected] [email protected] European Commission B-1049 Brussels Manuscript completed in January 2019 This document has been prepared for the European Commission however it reflects the views only of the authors, and the Commission cannot be held responsible for any use which may be made of the information contained therein. More information on the European Union is available on the internet (http://europa.eu). Neither the European Commission nor any person acting on behalf of the Commission is responsible for the use, which might be made of the following information. The views expressed in this publication are the sole responsibility of the authors and do not necessarily reflect the views of the European Commission. Luxembourg: Publications Office of the European Union, 2019 PDF ISBN 978-92-79-99139-4 doi: 10.2777/24537 KI-04-19-053-EN-N © European Union, 2019. Reuse is authorised provided the source is acknowledged. The reuse policy of European Commission documents is regulated by Decision 2011/833/EU (OJ L 330, 14.12.2011, p. 39). For any use or reproduction of photos or other material that is not under the EU copyright, permission must be sought directly from the copyright holders. Cover page image: © Lonely # 46246900, ag visuell #16440826, Sean Gladwell #6018533, LwRedStorm #3348265, 2011; kras99 #43746830, 2012.
    [Show full text]
  • PDF (Thumbnails)
    Serving robot finds work at Victoria restaurant () Utopia VR - The Metaverse for Everyone () Utopia VR Promo Video () Facebook warned over ‘very small’ indicator LED on smart glasses, as EU DPAs flag privacy concerns () Google’s Former AI Ethics Chief Has a Plan to Rethink Big Tech () Introducing iPhone 13 Pro | Apple () Introducing Apple Watch Series 7 | Apple () Apple reveals Apple Watch Series 7, featuring a larger, more advanced display () Xiaomi shows off concept smart glasses with MicroLED display () Xiaomi Smart Glasses | Showcase | A display in front of your eyes () ‘Neurograins’ Could be the Next Brain-Computer Interfaces () Welcome back to the moment. With Ray-Ban x Facebook () Facebook's Ray-Ban Stories smart glasses: Cool or creepy? () Introducing WHOOP 4.0 - The Personalized Digital Fitness and Health Coach () Introducing WHOOP Body - The Future of Wearable Technology () The Future of Communication in the Metaverse () Making pancakes with Reachy through VR Teleoperation () Trump Camp Posts Fake Video Of Biden () More than 50 robots are working at Singapore's high-tech hospital () The manual for Facebook’s Project Aria AR glasses shows what it’s like to wear them () Tesla Bot explained () Tesla Bot Takes Tech Demos to Their Logical, Absurd Conclusion () Watch brain implant help man 'speak' for the first time in 15 years () An Artificial Intelligence Helped Write This Play. It May Contain Racism () Elon Musk REVEALS Tesla Bot () Meet Grace, a humanoid robot designed for healthcare () Horizon Workrooms - Remote Collaboration Reimagined () Atlas | Partners in Parkour () Page 1 of 165 Inside the lab: How does Atlas work? () Neural recording and stimulation using wireless networks of microimplants () The Metaverse is a Dystopian Nightmare.
    [Show full text]
  • Deep Reinforcement Learning for Soft, Flexible Robots : Brief Review with Impending Challenges
    This is a repository copy of Deep reinforcement learning for soft, flexible robots : brief review with impending challenges. White Rose Research Online URL for this paper: https://eprints.whiterose.ac.uk/157316/ Version: Published Version Article: Bhagat, Sarthak, Banerjee, Hritwick, Tse, Zion Tsz Ho et al. (1 more author) (2019) Deep reinforcement learning for soft, flexible robots : brief review with impending challenges. Robotics. 4. ISSN 2470-9476 https://doi.org/10.3390/robotics8010004 Reuse This article is distributed under the terms of the Creative Commons Attribution (CC BY) licence. This licence allows you to distribute, remix, tweak, and build upon the work, even commercially, as long as you credit the authors for the original work. More information and the full terms of the licence here: https://creativecommons.org/licenses/ Takedown If you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing [email protected] including the URL of the record and the reason for the withdrawal request. [email protected] https://eprints.whiterose.ac.uk/ robotics Review Deep Reinforcement Learning for Soft, Flexible Robots: Brief Review with Impending Challenges Sarthak Bhagat 1,2,† , Hritwick Banerjee 1,3,†,‡ , Zion Tsz Ho Tse 4 and Hongliang Ren 1,3,5,* 1 Department of Biomedical Engineering, Faculty of Engineering, 4 Engineering Drive 3, National University of Singapore, Singapore 117583, Singapore; [email protected] (S.B.); [email protected] (H.B.) 2 Department of Electronics
    [Show full text]