Soft Robotics

Foreword
Preface
Acknowledgments
1 Introduction to Soft Robotics
Chapter Objectives
1.1 Overview
1.2 Why Soft Robotics?
1.3 What Is Soft Robotics?
1.4 Brief History of Soft Robotics
1.5 Challenges and Milestones in Soft Robotics
1.5.1 What Materials for Soft Robotics?
1.5.2 How to Make a Piece of Soft Material Move?
1.5.3 How to Model a Soft Body?
1.5.4. How to Control a Soft Robot?
1.6 What’s Next in Soft Robotics?
1.7 Summary
Self-Assessment Questions
Further Readings
On Soft Robotics and Embodied Intelligence
On Soft Robotics Technologies and Materials
On Soft Robot Modeling and Control
2 Robotics Basics
Chapter Objectives
2.1 Overview
2.2 Robot Mechanics
2.3 Robot Proprioceptive Sensors
2.3.1 Mechanical Switches
2.3.2 Optical Encoders
2.3.3 Potentiometers
2.3.4 Hall-Effect Sensors
2.4 Robot Control
2.4.1 Single Joint Control
2.4.2 Joint Space Control
2.4.3 Task Space Control
2.5 Robot Exteroceptive Sensors
2.5.1 Robot Vision
2.5.2 Force/Torque Sensors for Robots
2.5.3 Robot Tactile Perception
2.5.4 Distance Sensors in Robotics
2.6 Robot Architectures
2.6.1 Hierarchical Architectures
2.6.2 Reactive Architectures
2.6.3 Hybrid Architectures
2.7 Summary
Self-Assessment Questions
Further Readings
3 Bioinspiration and Biomimetics
Chapter Objectives
3.1 Overview
3.2 Why Bioinspiration and Biomimetics?
3.3 What Are Bioinspiration and Biomimetics?
3.3.1 Hook-and-Loop
3.3.2 Lotus-Inspired Painting
3.3.3 Shinkansen Bullet Train
3.3.4 Eiffel Tower
3.3.5 Geckos and Robots
3.4 Brief History of Bioinspiration and Biomimetics
3.4.1 Ante-Litteram Bioinspiration and Biomimetics
3.4.2 Birth and Growth of the Field
3.5 Biorobotics
3.6 Simplexity
3.7 Embodied Intelligence
3.8 Bioinspired Principles in Control: Neurocontrollers
3.9 A Methodology for Biorobotics
3.10 Summary
Self-Assessment Questions
4 Soft Robotics Technologies
Chapter Objectives
4.1 Overview
4.2 Materials for Soft Robotics
4.2.1 Material Properties
4.2.2 Soft Materials for Soft Robots
4.3 Actuation Technologies for Soft Robotics
4.3.1 Tendon-Driven Actuation of Soft Robots
4.3.2 Fluidic Actuation in Soft Robotics
4.3.3 Electro-Active Polymers as Soft Robot Actuators
4.3.4 Shape-Memory Alloys and Polymers
4.4 Stiffening Technologies for Soft Robotics
4.5 Sensing Technologies for Soft Robotics
4.5.1 Resistive Soft Sensors
4.5.2 Electro-Active Polymers as Soft Robot Sensors
4.5.3 Magnetic Phenomena for Soft Sensors
4.5.4 Optical Principles for Soft Sensors
4.5.5 Electrical Impedance Tomography (EIT)
4.6 Deformable Structures
4.7 Summary
Self-Assessment Questions
Further Readings
On Material Mechanical Behavior
On Soft Actuation Technologies
On Stiffening Technologies
On Soft Sensing Technologies
On Metamaterials and Origami Robots
On Tensegrity Structures
5 Soft Robot Modeling
Chapter Objectives
5.1 Overview
5.2 One Equation for Modeling Soft Robots
5.3 Modeling Internal Interactions
5.3.1 Three-dimensional (3D) Continuum Solid Mechanics Models
5.3.2 Rod Models
5.3.3 Finite Parameterization Models
5.4 Modeling External Interactions
5.4.1 Continuum Fluid Mechanics Models
5.4.2 Lumped Parameter Fluid Models
5.4.3 Continuum Solid Mechanics Models
5.4.4 Lumped Parameter Solid Models
5.5 Reduced-Order Models
5.6 Data-Driven Approaches
5.7 Summary
Self-Assessment Questions
Further Readings
On Basics of Solid Mechanics
On Rod Models
On Data-Driven Methods and Reduced-Order Models
On Soft Robot Simulators
6 Soft Robot Control
Chapter Objectives
6.1 Overview
6.2 Soft Robot Control Problems
6.3 Soft Robot Controllers
6.3.1 Joint Space Control
6.3.2 Task Space Control
6.4 Soft Robot Neuro-Controllers
6.5 Summary
Self-Assessment Questions
Further Readings
On Soft Robot Control
On Neural Networks
7 Soft Robotics in Practice
Chapter Objectives
7.1 Overview
7.2 Bioinspired Principles
7.2.1 Octopus Basics
7.2.2 Reaching and Fetching
7.2.3 Underwater Legged Locomotion
7.2.4 Pulsed-Jet Swimming
7.3 Materials, Actuators, Sensors
7.3.1 Materials
7.3.2 Tendon-Driven Actuation
7.3.3 EAP as Artificial Longitudinal and Transverse Muscles
7.3.4 SMA Springs as Artificial Longitudinal and Transverse Muscles
7.4 Modeling Internal and External Interactions
7.5 Model-Based and Learning-Based Control
7.6 Summary
Self-Assessment Questions
Further Readings
On Octopus Bioinspiration
On Octopus-like Robot with Tendon-driven Actuation
On Octopus-like Robot with EAP Actuation
On Octopus-like Robot with SMA Actuation
On Cosserat’s Models of Octopus-like Robot
On Pulsed-Jet Swimming Modeling
On Model-Based and Learning-Based Control
On U-SLIP Model
8 Conclusions
Chapter Objectives
8.1 Overview
8.2 Our Journey in Soft Robotics
8.3 Soft Robot Abilities
8.3.1 Soft Robot Manipulation
8.3.2 Soft Robot Locomotion
8.3.3 Growing Robots
8.3.4 Self-Healing Robots
8.3.5 Biodegradable Robots
8.3.6 Biohybrids
8.4 Soft Robot Applications
8.4.1 Biomedical Applications of Soft Robots
8.4.2 Soft Robots in Industry
8.4.3 Underwater Soft Robots
8.4.4 Space Soft Robotics
8.5 A Vision for Future Soft Robots
Self-Assessment Questions
Further Readings
On Soft Robot Abilities
On Biomedical Soft Robots
On Wearable Soft Robots
On Underwater Soft Robots—and More
On Vision for Future Soft Robots
Notes
References
Index