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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...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Nature Publishing Group UK
2023
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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. |
format | Online Article Text |
id | pubmed-10533550 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Nature Publishing Group UK |
record_format | MEDLINE/PubMed |
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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