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Narang, Yashraj

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Yashraj

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Narang, Yashraj

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    Transforming the Dynamic Response of Robotic Structures and Systems Through Laminar Jamming
    (Institute of Electrical and Electronics Engineers (IEEE), 2018-04) Narang, Yashraj; Degirmenci, Alperen; Vlassak, Joost; Howe, Robert
    Researchers have developed variable-impedance mechanisms to control the dynamic response of robotic systems and improve their adaptivity, robustness, and efficiency. However, these mechanisms have limitations in size, cost, and convenience, particularly for variable damping. We demonstrate that laminar jamming structures can transform the dynamic response of robotic structures and systems while overcoming these limitations. In laminar jamming, an external pressure gradient is applied to a laminate of compliant material, changing its stiffness and damping. In this latter, we combine analysis, simulation, and characterization to formulate a lumped-parameter model that captures the nonlinear mechanical behavior of jamming structures and can be used to rapidly simulate their dynamic response. We illustrate that by adjusting the vacuum pressure, the fundamental features of the dynamic response (i.e., frequency, amplitude, decay rate, and steady-state value) can be tuned on command. Finally, we demonstrate that jamming structures can be integrated into soft structures and traditional rigid robots to considerably alter their response to impacts. With the models and demonstrations provided here, researchers may move further toward building versatile and transformative robots. Index Terms: Soft material robotics, compliant joint/mechanism, dynamics, compliance and impedance control, aerial systems: mechanics and control.
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    Mechanically Versatile Soft Machines through Laminar Jamming
    (Wiley, 2018-02-26) Narang, Yashraj; Vlassak, Joost; Howe, Robert
    There are two major structural paradigms in robotics: soft machines, which are conformable, durable, and safe; and traditional rigid robots, which are fast, precise, and capable of applying high forces. Here, the paradigms are bridged by enabling soft machines to behave like traditional rigid robots on command. This task is accomplished via laminar jamming, a structural phenomenon in which a laminate of compliant strips becomes strongly coupled through friction when a pressure gradient is applied, causing dramatic changes in mechanical properties. Rigorous analytical and finite element models of laminar jamming are developed, and jamming structures are experimentally characterized to show that the models are highly accurate. Then jamming structures are integrated into soft machines to enable them to selectively exhibit the stiffness, damping, and kinematics of traditional rigid robots. The models allow jamming structures to efficiently meet arbitrary performance specifications, and the physical demonstrations illustrate how to construct systems that can behave like either soft machines or traditional rigid robots at will, such as continuum manipulators that can rapidly have joints appear and disappear. This study aims to foster a new generation of mechanically versatile machines and structures that cannot simply be classified as “soft” or “rigid.”