Abstract
Soft robot is becoming a current focus for its inherently compliance and human-friendly interacting with the real world. But most soft robots are designed and fabricated with intuition and empiricism only, which lack of systematic assessment such as force and deformable analysis before fabricating. Before choosing proper soft materials and processing the craft, the experiments of the soft robots can hardly be set up. In this paper, we construct a model of Honeycomb Pneumatic Finger (HPF) with honeycomb pneumatic network embedded which overcomes the shortcoming of embedded rectangular unit. In the meantime, a pressure analysis model is built for the purpose of physical simulation. Based on the model, without choosing any real materials and fabricating, we focus on exploring the correlations between the pressure and the geometrical shapes in physics simulation. Furthermore, we construct a virtual hand consisting of one rigid palm and four HPFs which is simulated with Bullet Physics Engine. By changing the pressure of the corresponding honeycomb units of each finger, the hand can grasp a ball smoothly and lift it up. At last, the deviation between the mathematical analysis and the physical simulation is discussed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Lu, Y., Kim, C.J.: Micro-finger articulation by pneumatic parylene balloons. In: 12th International Conference on Transducers, Solid-State Sensors, Actuators and Microsystems, vol. 1, pp. 276–279. IEEE (2003)
Trivedi, D., Rahn, C.D., Kier, W.M., et al.: Soft robotics: Biological inspiration, state of the art, and future research. Applied Bionics and Biomechanics 5(3), 99–117 (2008)
Kang, B.S., Kothera, C.S., Woods, B.K.S., et al.: Dynamic modeling of Mckibben pneumatic artificial muscles for antagonistic actuation. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 182–187. IEEE (2009)
Ilievski, F., Mazzeo, A.D., Shepherd, R.F., et al.: Soft robotics for chemists. Angewandte Chemie 123(8), 1930–1935 (2011)
Sun, H., Chen, X.-P.: Towards Honeycomb PneuNets Robots. In: Kim, J.-H., Matson, E., Myung, H., Xu, P. (eds.) Robot Intelligence Technology and Applications 2. AISC, vol. 274, pp. 331–340. Springer, Heidelberg (2014)
Morin, S.A., Shepherd, R.F., Kwok, S.W., et al.: Camouflage and display for soft machines. Science 337(6096), 828–832 (2012)
Hiller, J., Lipson, H.: Automatic design and manufacture of soft robots. IEEE Transactions on Robotics 28(2), 457–466 (2012)
Müller, M., Heidelberger, B., Hennix, M., et al.: Position based dynamics. Journal of Visual Communication and Image Representation 18(2), 109–118 (2007)
Glette, K., Hovin, M.: Evolution of artificial muscle-based robotic locomotion in PhysX. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1114–1119. IEEE (2010)
Rieffel, J., Saunders, F., Nadimpalli, S., et al.: Evolving soft robotic locomotion in PhysX. In: Proceedings of the 11th Annual Conference Companion on Genetic and Evolutionary Computation Conference: Late Breaking Papers, pp. 2499–2504. ACM (2009)
Coumans, E.: Bullet Physics Engine (2010)
Boeing, A., Bräunl, T.: Evaluation of real-time physics simulation systems. In: Proceedings of the 5th International Conference on Computer Graphics and Interactive Techniques in Australia and Southeast Asia, pp. 281–288. ACM (2007)
Teran, J., Blemker, S., Hing, V., et al.: Finite volume methods for the simulation of skeletal muscle. In: Proceedings of the 2003 ACM SIGGRAPH/Eurographics Symposium on Computer Animation. Eurographics Association, pp. 68–74 (2003)
Rabaetje, R.: Real-time simulation of deformable objects for assembly simulations. In: Proceedings of the Fourth Australasian User Interface Conference on User Interfaces 2003, vol. 18, pp. 57–64. Australian Computer Society, Inc. (2003)
Balaniuk, R., Salisbury, K.: Dynamic simulation of deformable objects using the long elements method. In: Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2002, pp. 58–65. IEEE (2002)
Costa, I.F., Balaniuk, R.: LEM-An approach for real time physically based soft tissue simulation. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2001, vol. 3, pp. 2337–2343. IEEE (2001)
Provot, X.: Deformation constraints in a mass-spring model to describe rigid cloth behaviour. In: Graphics Interface, pp. 147–147. Canadian Information Processing Society (1995)
Maciej, M., Mark, O.: Pressure model of soft body simulation. arXiv preprint physics/0407003 (2004)
Lipson, H.: Challenges and Opportunities for Design, Simulation, and Fabrication of Soft Robots. Soft Robotics 1(1), 21–27 (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Cheng, B., Sun, H., Chen, X. (2015). Evolving Honeycomb Pneumatic Finger in Bullet Physics Engine. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_38
Download citation
DOI: https://doi.org/10.1007/978-3-319-16841-8_38
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-16840-1
Online ISBN: 978-3-319-16841-8
eBook Packages: EngineeringEngineering (R0)