Project Details
Projekt
AI based design assistance system for soft robotics -Integrating motion and control in the design process
Subject Area
Engineering Design, Machine Elements, Product Development
Mechanics
Mechanics
Term
since 2022
Project identifier
Deutsche Forschungsgemeinschaft (DFG) - Project number 501861263
In the framework of this project, the already established design assistance system for pneumatic soft robots will be further developed and improved. In the first funding period, a design assistance system was successfully developed that allows for the optimization of such actuators with arbitrarily distributed air chambers. In the second phase, the focus will be on expanding the versatility of the design assistance system to make it applicable to more complex and realistic design requirements. Specifically, challenges in the areas of interaction with the environment, material modeling, and motion planning will be addressed. The overarching goal is to extend the design assistance system so that it can also handle tasks where robots need to interact with their environment. This includes, for example, touching objects or sliding along surfaces. Furthermore, uncertainties in dimensions and system parameters, as well as nonlinear material behavior of the silicones, will be taken into account. Additionally, the system will be able to locally adjust material properties or geometries of the air chambers, significantly expanding the design space. These local adjustments can be implemented through new additive manufacturing techniques, such as the Fused Filament Fabrication process. In addition to geometry, another important aspect is the optimization of motion planning and the control of air supply. This will allow the actuators to work precisely and adaptively, which is crucial for use in real-world applications. These extensions of the design assistance system will enable the optimization of both individual actuators and entire robotic systems consisting of multiple actuators, in terms of their design and control properties. To achieve these objectives, the system will be supplemented with additional optimization loops. For instance, a new approach to path planning will be developed that optimizes the motion paths of the actuators, taking air supply into account. This will ensure that the robots operate efficiently and precisely.
DFG Programme
Priority Programmes
