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Embedded shape morphing for morphologically adaptive robots

Shape-morphing robots can change their morphology to fulfill different tasks in varying environments, but existing shape-morphing capability is not embedded in a robot’s body, requiring bulky supporting equipment. Here, we report an embedded shape-morphing scheme with the shape actuation, sensing, a...

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Autores principales: Sun, Jiefeng, Lerner, Elisha, Tighe, Brandon, Middlemist, Clint, Zhao, Jianguo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Nature Publishing Group UK 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10533550/
https://www.ncbi.nlm.nih.gov/pubmed/37758737
http://dx.doi.org/10.1038/s41467-023-41708-6
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author Sun, Jiefeng
Lerner, Elisha
Tighe, Brandon
Middlemist, Clint
Zhao, Jianguo
author_facet Sun, Jiefeng
Lerner, Elisha
Tighe, Brandon
Middlemist, Clint
Zhao, Jianguo
author_sort Sun, Jiefeng
collection PubMed
description Shape-morphing robots can change their morphology to fulfill different tasks in varying environments, but existing shape-morphing capability is not embedded in a robot’s body, requiring bulky supporting equipment. Here, we report an embedded shape-morphing scheme with the shape actuation, sensing, and locking, all embedded in a robot’s body. We showcase this embedded scheme using three morphing robotic systems: 1) self-sensing shape-morphing grippers that can adapt to objects for adaptive grasping; 2) a quadrupedal robot that can morph its body shape for different terrestrial locomotion modes (walk, crawl, or horizontal climb); 3) an untethered robot that can morph its limbs’ shape for amphibious locomotion. We also create a library of embedded morphing modules to demonstrate the versatile programmable shapes (e.g., torsion, 3D bending, surface morphing, etc.). Our embedded morphing scheme offers a promising avenue for robots to reconfigure their morphology in an embedded manner that can adapt to different environments on demand.
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spelling pubmed-105335502023-09-29 Embedded shape morphing for morphologically adaptive robots Sun, Jiefeng Lerner, Elisha Tighe, Brandon Middlemist, Clint Zhao, Jianguo Nat Commun Article Shape-morphing robots can change their morphology to fulfill different tasks in varying environments, but existing shape-morphing capability is not embedded in a robot’s body, requiring bulky supporting equipment. Here, we report an embedded shape-morphing scheme with the shape actuation, sensing, and locking, all embedded in a robot’s body. We showcase this embedded scheme using three morphing robotic systems: 1) self-sensing shape-morphing grippers that can adapt to objects for adaptive grasping; 2) a quadrupedal robot that can morph its body shape for different terrestrial locomotion modes (walk, crawl, or horizontal climb); 3) an untethered robot that can morph its limbs’ shape for amphibious locomotion. We also create a library of embedded morphing modules to demonstrate the versatile programmable shapes (e.g., torsion, 3D bending, surface morphing, etc.). Our embedded morphing scheme offers a promising avenue for robots to reconfigure their morphology in an embedded manner that can adapt to different environments on demand. Nature Publishing Group UK 2023-09-27 /pmc/articles/PMC10533550/ /pubmed/37758737 http://dx.doi.org/10.1038/s41467-023-41708-6 Text en © The Author(s) 2023 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) .
spellingShingle Article
Sun, Jiefeng
Lerner, Elisha
Tighe, Brandon
Middlemist, Clint
Zhao, Jianguo
Embedded shape morphing for morphologically adaptive robots
title Embedded shape morphing for morphologically adaptive robots
title_full Embedded shape morphing for morphologically adaptive robots
title_fullStr Embedded shape morphing for morphologically adaptive robots
title_full_unstemmed Embedded shape morphing for morphologically adaptive robots
title_short Embedded shape morphing for morphologically adaptive robots
title_sort embedded shape morphing for morphologically adaptive robots
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10533550/
https://www.ncbi.nlm.nih.gov/pubmed/37758737
http://dx.doi.org/10.1038/s41467-023-41708-6
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