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1. Bending behavior of biomimetic scale covered beam with tunable stiffness scales

   https://doi.org/10.1038/s41598-020-74147-0  

   Tatari, Milad; Kamrava, Soroush; Ghosh, Ranajay; Nayeb-Hashemi, Hamid; Vaziri, Ashkan (December 2020, Scientific Reports)

   null (Ed.)

   Abstract Biomimetic scales provide a convenient template to tailor the bending stiffness of the underlying slender substrate due to their mutual sliding after engagement. Scale stiffness can therefore directly impact the substrate behavior, opening a potential avenue for substrate stiffness tunability. Here, we have developed a biomimetic beam, which is covered by tunable stiffness scales. Scale tunability is achieved by specially designed plate like scales consisting of layers of low melting point alloy (LMPA) phase change materials fully enclosed inside a soft polymer. These composite scales can transition between stiff and soft states by straddling the temperatures across LMPA melting points thereby drastically altering stiffness. We experimentally analyze the bending behavior of biomimetic beams covered with tunable stiffness scales of two architectures—one with single enclosure of LMPA and one with two enclosures of different melting point LMPAs. These architectures provide a continuous stiffness change of the underlying substrate post engagement, controlled by the operating temperature. We characterize this response using three-point bending experiments at various temperature profiles. Our results demonstrate for the first time, the pronounced and reversible tunability in the bending behavior of biomimetic scale covered beam, which are strongly dependent on the scale material and architecture. Particularly, it is shown that the bending stiffness of the biomimetic scale covered beam can be actively and reversibly tuned by a factor of up to 7. The developed biomimetic beam has applications in soft robotic grippers, smart segmented armors, deployable structures and soft swimming robots. 

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2. Learning to Locomote with Artificial Neural-Network and CPG-based Control in a Soft Snake Robot

   https://doi.org/10.1109/IROS45743.2020.9340763  

   Liu, Xuan; Gasoto, Renato; Jiang, Ziyi; Onal, Cagdas; Fu, Jie (October 2020, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))

   null (Ed.)

   In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A reinforcement learning (RL) module for achieving adaptive goal-tracking behaviors with changing goals, and a central pattern generator (CPG) system with Matsuoka oscillators for generating stable and diverse locomotion patterns. The two modules are interconnected into a closed-loop system: The RL module, analogizing the locomotion region located in the midbrain of vertebrate animals, regulates the input to the CPG system given state feedback from the robot. The output of the CPG system is then translated into pressure inputs to the pneumatic actuators of the soft snake robot. Based on the fact that the oscillation frequency and wave amplitude of the Matsuoka oscillator can be independently controlled under different time scales, we further adapt the option-critic framework to improve the learning performance measured by optimality and data efficiency. The performance of the proposed controller is experimentally validated with both simulated and real soft snake robots. 

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3. Programmable Dual‐Responsive Actuation of Single‐Hydrogel‐Based Bilayer Actuators by Photothermal and Skin Layer Effects with Graphene Oxides

   https://doi.org/10.1002/admi.202300169  

   Li, Minghao; Bae, Jinhye (August 2023, Advanced Materials Interfaces)

   Abstract Shape morphing of stimuli‐responsive composite hydrogels has received considerable attention in different research fields. Although various multilayer structures with dissimilar materials are studied to achieve shape morphing, combining swellable hydrogel layers with non‐swellable layers results in issues with interface adhesion and structural integrity. In this study, single‐hydrogel‐based bilayer actuators comprising poly(N‐isopropylacrylamide) (PNIPAM) matrices and graphene oxide (GO)–PNIPAM hinges are presented. Upon temperature rising, the PNIPAM hydrogel acts as the passive layer due to the formation of dense microstructures near the surface (i.e., the skin layer effect), whereas the GO‐PNIPAM hydrogel functions as the active layer, maintaining porous due to structural modification by the presence of GO. Under light exposure, the GO‐PNIPAM hinges experience selective heating due to the photothermal effect of GO. Consequently, the resulting bilayer structures exhibit programmable dual‐responsive 3D shape morphing. Additionally, the folding kinetics of these actuators can be adjusted based on the applied stimulus (temperature changes or light), as they are driven by different mechanisms, the skin layer, or photothermal effects, respectively. Furthermore, the hinge‐based bilayer structures demonstrate walking and steering locomotion by light exposure. This approach can lead to advances in soft robotics, biomimetic systems, and autonomous soft actuators in hydrogel‐based systems. 

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4. Thermodynamically-informed Air-based Soft Heat Engine Design

   Charles Xiao, Luke F. (January 2021, ArXivorg)

   null (Ed.)

   Soft heat engines are poised to play a vital role in future soft robots due to their easy integration into soft structures and low-voltage power requirements. Recent works have demonstrated soft heat engines relying on liquid-to-gas phase change materials. However, despite the fact that many soft robots have air as a primary component, soft air cycles are not a focus of the field. In this paper, we develop theory for air-based soft heat engines design and efficiency, and demonstrate experimentally that efficiency can be improved through careful cycle design. We compare a simple constant-load cycle to a designed decreasing-load cycle, inspired by the Otto cycle. While both efficiencies are relatively low, the Otto-like cycle improves efficiency by a factor of 11.3, demonstrating the promise of this approach. Our results lay the foundation for the development of air-based soft heat engines as a new option for powering soft robots. 

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5. Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems

   https://doi.org/10.1017/S0263574720001101  

   Yan, Wenzhong; Mehta, Ankur (January 2023, Robotica)

   SUMMARY To improve the accessibility of robotics, we propose a design and fabrication strategy to build low-cost electromechanical systems for robotic devices. Our method, based on origami-inspired cut-and-fold and E-textiles techniques, aims at minimizing the resources for robot creation. Specifically, we explore techniques to create robots with the resources restricted to single-layer sheets (e.g., polyester film) and conductive sewing threads. To demonstrate our strategy’s feasibility, these techniques are successfully integrated into an electromechanical oscillator (about 0.40 USD), which can generate electrical oscillation under constant-current power and potentially be used as a simple robot controller in lieu of additional external electronics. 

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