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Fluids for Soft Gripper Design: Robots in Real-World Environments- [electronic resource]
![Fluids for Soft Gripper Design: Robots in Real-World Environments - [electronic resource]](/Users/Baul/Images/book.png)
Fluids for Soft Gripper Design: Robots in Real-World Environments- [electronic resource]
상세정보
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214101654
- ISBN
- 9798380366991
- DDC
- 621
- 서명/저자
- Fluids for Soft Gripper Design: Robots in Real-World Environments - [electronic resource]
- 발행사항
- [S.l.]: : University of California, Berkeley., 2023
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2023
- 형태사항
- 1 online resource(100 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 85-03, Section: B.
- 주기사항
- Advisor: Stuart, Hannah.
- 학위논문주기
- Thesis (Ph.D.)--University of California, Berkeley, 2023.
- 사용제한주기
- This item must not be sold to any third party vendors.
- 초록/해제
- 요약For forceful and dexterous manipulation, robots must be able to physically interact with the environment. In the real-world, the environment is dynamic and unstructured. For example, fragile objects and adversarial contact conditions, e.g. a slippery fluid film, may be present. Embodied intelligence and active control strategies are two approaches that tackle these challenges. Soft robots and grippers exemplify embodied intelligence, as the inherent behavior of soft materials allows passive compliance and distributed loading. A sense of touch, also known as tactile sensing, provides feedback for active controllers to provide additional adaptability and articulation. Human hands seamlessly integrate both compliance and tactile sensing, with underactuated joints and soft compliant skin covered with nerve endings. While case studies demonstrate soft robots or tactile sensors in the field, few systems have both.My dissertation explores the design of embodied dexterity and tactile sensing in robots through fluids. Fluids - liquids, gasses - are ubiquitous. Many soft robots use fluids for actuation, e.g. pneumatic or hydraulic. Fluids for robotic sensing and contact design are less prevalent. In this dissertation, I first present how we can employ airflow for tactile sensing. This design uses pneumatic acoustic resonance to sensitize soft, skin-like surfaces and grippers. I then show how we can mitigate the slippery effects of lubrication for frictional grasping by adding soft, patterned finger pads to existing grippers.
- 일반주제명
- Mechanical engineering.
- 일반주제명
- Fluid mechanics.
- 일반주제명
- Robotics.
- 키워드
- Tactile sensing
- 키워드
- Soft robots
- 키워드
- Grippers
- 키워드
- Fragile objects
- 기타저자
- University of California, Berkeley Mechanical Engineering
- 기본자료저록
- Dissertations Abstracts International. 85-03B.
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520240214101654
■006m o d
■007cr#unu||||||||
■020 ▼a9798380366991
■035 ▼a(MiAaPQ)AAI30634633
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a621
■1001 ▼aLi, Monica Shaojin.
■24510▼aFluids for Soft Gripper Design: Robots in Real-World Environments▼h[electronic resource]
■260 ▼a[S.l.]:▼bUniversity of California, Berkeley. ▼c2023
■260 1▼aAnn Arbor :▼bProQuest Dissertations & Theses, ▼c2023
■300 ▼a1 online resource(100 p.)
■500 ▼aSource: Dissertations Abstracts International, Volume: 85-03, Section: B.
■500 ▼aAdvisor: Stuart, Hannah.
■5021 ▼aThesis (Ph.D.)--University of California, Berkeley, 2023.
■506 ▼aThis item must not be sold to any third party vendors.
■520 ▼aFor forceful and dexterous manipulation, robots must be able to physically interact with the environment. In the real-world, the environment is dynamic and unstructured. For example, fragile objects and adversarial contact conditions, e.g. a slippery fluid film, may be present. Embodied intelligence and active control strategies are two approaches that tackle these challenges. Soft robots and grippers exemplify embodied intelligence, as the inherent behavior of soft materials allows passive compliance and distributed loading. A sense of touch, also known as tactile sensing, provides feedback for active controllers to provide additional adaptability and articulation. Human hands seamlessly integrate both compliance and tactile sensing, with underactuated joints and soft compliant skin covered with nerve endings. While case studies demonstrate soft robots or tactile sensors in the field, few systems have both.My dissertation explores the design of embodied dexterity and tactile sensing in robots through fluids. Fluids - liquids, gasses - are ubiquitous. Many soft robots use fluids for actuation, e.g. pneumatic or hydraulic. Fluids for robotic sensing and contact design are less prevalent. In this dissertation, I first present how we can employ airflow for tactile sensing. This design uses pneumatic acoustic resonance to sensitize soft, skin-like surfaces and grippers. I then show how we can mitigate the slippery effects of lubrication for frictional grasping by adding soft, patterned finger pads to existing grippers.
■590 ▼aSchool code: 0028.
■650 4▼aMechanical engineering.
■650 4▼aFluid mechanics.
■650 4▼aRobotics.
■653 ▼aEmbodied intelligence
■653 ▼aTactile sensing
■653 ▼aSoft robots
■653 ▼aGrippers
■653 ▼aFragile objects
■690 ▼a0548
■690 ▼a0204
■690 ▼a0771
■71020▼aUniversity of California, Berkeley▼bMechanical Engineering.
■7730 ▼tDissertations Abstracts International▼g85-03B.
■773 ▼tDissertation Abstract International
■790 ▼a0028
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T16934784▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a202402▼f2024
