Relationship between pressure and radius of each actuator of S-isothermic robotic surface

Abstract

Inverse kinematics is essential for robots to execute tasks, not only for rigid robots but also for robotic surfaces. This paper focuses on a robotic surface that consists of a truncated conical actuator with two air chambers. The actuator can drive the front and back radii independently, and the robot deforms by applying pressure corresponding to the radii obtained by solving inverse kinematics. Since the robotic surface is composed of soft materials, several factors must be investigated to determine the relationship between radius and pressure. In this paper, one air chamber of an actuator is investigated for the pressure of the adjacent air chamber, the presence or absence of a connecting part, and the position of the actuator.