Octoboticus: Soft Robotics and Kinematic Control of a Continuum Arm

Timeline

Status: Active

Description

This project is focusing on designing an innovative universal gripper capable of grasping a wide variety of objects with different shapes, sizes, and textures. Inspired by the adaptive and dexterous movements of the octopus, the goal is to develop a versatile gripping mechanism that can operate effectively across diverse environments. Traditional robotic grippers often struggle with irregular or delicate items, making them less effective in applications requiring flexibility and adaptability. In contrast, soft robotics provides a promising solution, offering gentle, conforming grips that can securely handle objects ranging from fragile glassware to heavy, irregular tools.

Our approach will involve constructing a continuum robot model with three independently actuated sections, utilizing springs and cables to achieve flexible and adaptive movements. This design will allow the gripper to conform to and securely hold objects of varying shapes while maintaining a gentle touch.

Potential applications for a universal gripper are vast and include industrial automation, where it can streamline production lines by accommodating different parts, and healthcare, where it can assist with handling delicate

instruments and materials. It may also prove valuable in agricultural tasks, such as harvesting produce without causing damage.

Our project will explore cutting-edge research in soft robotics, with a focus on spring and cable-driven actuation systems, flexible actuators, and bio-inspired materials. We will integrate these elements into a novel gripper design, emphasizing adaptability and gentle grasping. Additionally, we will be developing a novel kinematics framework capable of accurately modeling the inverse kinematics of our unique multi-section continuum structure, ensuring precise control over the gripper's movements.

This project aims to develop a robust, adaptable

Team

Members

Rebecca Edelman