Cascadable elastomer-based fluidic circuits for controlling soft robots

Abstract

This dissertation explores the development of cascadable fluidic circuit elements that can be used to create highly functional controllers for soft robotics. The first chapter provides an overview of basic fluidic circuits and characterizes their behavior. In particular, it examines the necessary fluidic requirements of each circuit to provide insights for integration and tune-ability. The second chapter presents a novel fluidic power amplifier that can augment the low pressures and flows of the circuits from the first chapter. This amplifier is designed to provide the necessary power to operate larger fluidic devices and systems, thereby expanding the capabilities of the fluidic circuits. The third chapter focuses on the integration of all the circuit elements presented in the previous chapters to create highly functional controllers. Concepts regrading user modulation , buffering, autonomous controllers, and programmability in fluidic controllers for soft robotics are discussed. The chapter discusses various design considerations, such as input and output impedance and venting resistor impedances. The chapter also discusses the performance of the integrated circuits in terms of response times and actuation efficacy. Overall, this dissertation provides the first steps towards the design and implementation of cascadable fluidic circuit elements for soft robotic control. The proposed fluidic power amplifier and the highly functional controllers have the potential to expand the current capabilities of soft controllers for soft robotics. The findings of this research can serve as a foundation for future research in the field of fluidic circuits and their control.