Design and implementation of novel underactuated geometric compliant (UGC) robotic modules with resizable bodies

Krysov, Mark and Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144 2024. Design and implementation of novel underactuated geometric compliant (UGC) robotic modules with resizable bodies. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.

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Abstract

This paper introduces a novel underactuated geometric compliant (UGC) robot and explores the behavior of modules with variable radial stiffness to enhance UGC robot versatility. We design and fabricate semi-rigid geometric joints tailored to specific objectives, validating their stiffness and durability through physical testing. A Gaussian process regression model incorporates joint characteristics, including thickness, facilitating the development of easily 3D-printable prototypes. We present various configurations for constructing the overall UGC module, demonstrating a prototype that dynamically reduces its radius while maintaining structural integrity. This study also discusses the potential, challenges, and limitations of UGC modules, providing insights for future UGC robotics research.

Item Type:	Conference or Workshop Item (Speech)
Date Type:	Completion
Status:	Unpublished
Schools:	Schools > Engineering
Related URLs:	https://ras.papercept.net/conferences/co...
Date of First Compliant Deposit:	14 September 2024
Date of Acceptance:	30 June 2024
Last Modified:	07 Nov 2024 18:30
URI:	https://orca.cardiff.ac.uk/id/eprint/172113

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