Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

F. Piqué; F. Stella; Josie Hughes; Egidio  Falotico; C. Della Santina

doi:10.1109/RoboSoft55895.2023.10122116

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

F. Piqué, F. Stella, Josie Hughes, Egidio Falotico, C. Della Santina

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Abstract

Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks involving unstructured environments. This work proposes an artificial nose on a soft robotic arm that ensures separate smell concentration readings. We propose designing the nose to generate a one-to-one matching between the sensors' inputs and the actuators. This design choice allows us to implement a simple control strategy tailored to reach a dynamically varying smell in the environment, which we validate on a two-segment tendon-driven soft robotic arm equipped with the proposed artificial nose. We also propose and validate in simulation a control strategy for reaching tasks in the case of a stationary smell

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Soft Robotics, RoboSoft 2023
Publisher	IEEE
Number of pages	7
ISBN (Electronic)	9798350332223
DOIs	https://doi.org/10.1109/RoboSoft55895.2023.10122116
Publication status	Published - 2023
Event	IEEE International Conference on Soft Robotics, RoboSoft 2023 - Singapore Duration: 3 Apr 2023 → 7 Apr 2023 https://softroboticsconference.org/

Conference

Conference	IEEE International Conference on Soft Robotics, RoboSoft 2023
Period	3/04/23 → 7/04/23
Internet address	https://softroboticsconference.org/

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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10.1109/RoboSoft55895.2023.10122116

Smell_Driven_Navigation_for_Soft_Robotic_Arms_Artificial_Nose_and_Control-1Final published version, 2.32 MB

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title = "Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control",

abstract = "Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks involving unstructured environments. This work proposes an artificial nose on a soft robotic arm that ensures separate smell concentration readings. We propose designing the nose to generate a one-to-one matching between the sensors' inputs and the actuators. This design choice allows us to implement a simple control strategy tailored to reach a dynamically varying smell in the environment, which we validate on a two-segment tendon-driven soft robotic arm equipped with the proposed artificial nose. We also propose and validate in simulation a control strategy for reaching tasks in the case of a stationary smell",

author = "F. Piqu{\'e} and F. Stella and Josie Hughes and Egidio Falotico and {Della Santina}, C.",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; IEEE International Conference on Soft Robotics, RoboSoft 2023 ; Conference date: 03-04-2023 Through 07-04-2023",

year = "2023",

doi = "10.1109/RoboSoft55895.2023.10122116",

language = "English",

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T2 - IEEE International Conference on Soft Robotics, RoboSoft 2023

AU - Piqué, F.

AU - Stella, F.

AU - Hughes, Josie

AU - Falotico, Egidio

AU - Della Santina, C.

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2023

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N2 - Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks involving unstructured environments. This work proposes an artificial nose on a soft robotic arm that ensures separate smell concentration readings. We propose designing the nose to generate a one-to-one matching between the sensors' inputs and the actuators. This design choice allows us to implement a simple control strategy tailored to reach a dynamically varying smell in the environment, which we validate on a two-segment tendon-driven soft robotic arm equipped with the proposed artificial nose. We also propose and validate in simulation a control strategy for reaching tasks in the case of a stationary smell

AB - Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks involving unstructured environments. This work proposes an artificial nose on a soft robotic arm that ensures separate smell concentration readings. We propose designing the nose to generate a one-to-one matching between the sensors' inputs and the actuators. This design choice allows us to implement a simple control strategy tailored to reach a dynamically varying smell in the environment, which we validate on a two-segment tendon-driven soft robotic arm equipped with the proposed artificial nose. We also propose and validate in simulation a control strategy for reaching tasks in the case of a stationary smell

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M3 - Conference contribution

BT - Proceedings of the IEEE International Conference on Soft Robotics, RoboSoft 2023

PB - IEEE

Y2 - 3 April 2023 through 7 April 2023

ER -

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

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