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Abstract 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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Temperature Sensing Shape Morphing Antenna (ShMoA)
Devices that can morph their functions on demand provide a rich yet unexplored paradigm for the next generation of electronic devices and sensors. For example, an antenna that can morph its shape can be used to adapt communication to different wireless standards or improve wireless signal reception. We utilize temperature-sensitive shape memory alloys (SMA) to realize a shape morphing antenna (ShMoA). In the designed architecture, multiple conjoined shape memory alloy sections form the antenna. The shape morphing of this antenna is achieved through temperature control. Different temperature threshold levels are used for programming the shape. Besides its conventional use for RF applications, ShMoA can serve as a multi-level temperature sensor, analogous to thermoreceptors in an insect antenna. ShMoA essentially combines the function of temperature sensing, embedded computing for detection of threshold crossings, and radio frequency readout, all in the single construct of a shape-morphing antenna (ShMoA) without the need for any battery or peripheral electronics. The ShMoA can be employed as bio-inspired wireless temperature sensing antennae on mobile robotic flies, insects, drones and other robots. It can also be deployed as programmable antennas for multi-standard wireless communication.
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- PAR ID:
- 10396638
- Date Published:
- Journal Name:
- Micromachines
- Volume:
- 13
- Issue:
- 10
- ISSN:
- 2072-666X
- Page Range / eLocation ID:
- 1673
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.3390/mi13101673
