Bio-Inspired Environmental Detection Using Soft Sensors for Soft Miniature Robots
To utilize robots in routine tasks or dangerous and extreme environments and applications (such as search and rescue,leakage detection, mine sweeping), robots that can move comfortably on rough terrain, pass through small openings and function under tough environmental conditions, should be manufactured. One of the most suitable approaches that offer a solution to these challenges is the bio-inspired robotic systems. Centimeter-scale, insect-inspired miniature robots form an interesting research field in the newest line of robot families due to their transportability, cheap and easy manufacture, modularity potential and the possibility of autonomous and semi-autonomous operation. Despite all the advantages outlined, due to the hard materials used to make miniature robots, they can break easily when mechanically deformed. The miniature robots fabricated in our research group are made from compliant and/or soft materials to prevent easy failure upon deformation and to enhance locomotion capabilities on rough terrain. However, there is a trade-off between robot compliance and the payload capacity. Therefore, miniature soft robots cannot carry sophisticated sensing systems such as high-resolution cameras or lidars. In this project, we are investigating what miniature robots can sense about their environments in the lack of visual sensing. To sense parameters about the robot’s environment, we will place soft force sensors that are 3D printed from conductive soft filaments and all sensing will be done using these sensors. Since this sensing method is somewhat equivalent to the sense of touch, we assume that the sensing mode will be bio-inspired.
