Soft Robotic Cellbot for Extra-terrestrial Locomotion

This project will address two research challenges: 1. Actuation, shape change and coalescing/decomposition: The soft robot must be able to change its shape in order to move efficiently over different terrains on remote planets. Multiple soft robotic 'cells' (small soft robotic units) must be able to come together and fuse, or be able to decompose into smaller independent robots. They will exploit these two capabilities to enhance their locomotion capabilities. 2. Intelligence and control: Cellbots must sense their environments and intelligently decide the best morphology to adopt according to the terrain they are on, or how they should coalesce in order to form new 3D shapes, to obtain most morphological advantage in manoeuvring within the terrain. Project description: In hazardous and unapproachable environments, such as outer space, there is a need for robots to autonomously and efficiently manoeuvre over a variety of uneven topographies. Autonomy is required because there is commonly a delay in communication between robot and base station. A soft robotic swarm with the ability to morphologically adapt based on the surroundings would provide an effective way to tackle this problem. The inspiration is taken from nature based on the movement of animals, to move on unpredictable geomorphologies. The aim is to create a modular soft robot swarm that is composed of simple spherical elements that can coalesce and coordinate their volumetric actuation, thereby generating locomotion suitable to the encountered environment. Having a large number of small soft robotic units ensures a robust, cost-effective, and high fault tolerant solution. Softness in the robot allows for easy change of shape of the robotic units and enhances its compliance by allowing it to deform according to roughness of the terrain. In the session, the robot can easily be deflated and densely packed to reduce transportation costs. So far, the project has developed a computational model of a cellbot in Simscape where the locomotion cycle and fundamental model are shown in figure 1. We have focused on optimizing robot model parameters and understanding the effect of friction coefficients on locomotion, to tune them to achieve an optimal locomotion strategy. Foot displacement values were different for different feet during starting few cycles when static friction was in transition range. Figure 2 shows the relative phase plot for two feet. The model was adjusted to calculate average foot displacement over all actuation cycles for different frictional values after subtracting this starting time. Results from this will be later applied to a more complex 3D robot model. Tests on the model created will
include dropping it from height to test for crash landing on Mar's surface. This will help in impact testing and understand robot locomotion after deployment.

FARSCOPE-TU will deliver a step change in UK capabilities in robotics and autonomous systems (RAS) by elevating technologies from niche to ubiquity. It meets the critical need for advanced RAS, placing the UK in prime position to capture a significant proportion of the estimated $18bn global market in advanced service robotics. FARSCOPE-TU will provide an advanced training network in RAS, pump priming a generation of professional and adaptable engineers and leaders who can integrate fundamental and applied innovation, thereby making impact across all the "four nations" in EPSRC's Delivery Plan. Specifically, it will have significant immediate and ongoing impact in the following six areas:
1. Training: The FARSCOPE-TU coherent strategy will deliver five cohorts trained in state-of-the-art RAS research, enterprise, responsible innovation and communication. Our students will be trained with wide knowledge of all robotics, and deep specialist skills in core domains, all within the context of the 'innovation pipeline', meeting the need for 'can-do' research engineers, unafraid to tackle new and emergent technical challenges. Students will graduate as future thought leaders, ready for deployment across UK research and industrial innovation.
2. Partner and industrial impact: The FARSCOPE-TU programme has been designed in collaboration with our industrial and end-user partners, including: DSTL; Thales; Atkins; Toshiba; Roke Manor Research; Network Rail; BT; National Nuclear Lab; AECOM; RNTNE Hospital; Designability; Bristol Heart Inst.; FiveAI; Ordnance Survey; TVS; Shadow Robot Co.; React AI; RACE (part of UKAEA) and Aimsun. Partners will deliver context and application-oriented training direct to the students throughout the course, ensuring graduates are perfectly placed to transition into their businesses and deliver rapid impact.
3. RAS community: FARSCOPE-TU will act as multidisciplinary centre in robotics and autonomous systems for the whole RAS community, provide an inclusive model for future research and training centres and bring new opportunities for networking between other centres. These include joint annual conference with other RAS CDTs and training exchanges. FARSCOPE-TU will generate significant international exposure within and beyond the RAS community, including major robotics events such as ICRA and IROS, and will interface directly with the UK-RAS network.
4. Societal Impact: FARSCOPE-TU will promote an informed debate on the adoption of autonomous robotics in society, cutting through hype and fear while promoting the highest levels of ethics and safety. All students will design and deliver public engagement events to schools and the public, generating knock-on impact in two ways: greater STEM uptake enhances future economic potential, and greater awareness makes people better users of robots, amplifying societal benefits.
5. Economic impact: FARSCOPE-TU will not only train cohorts in fundamental and applied research but will also demonstrate how to bridge the "technology valley of death" between lower and higher TRL. This will enable students to exploit their ideas in technology incubators (incl. BRL incubator, SetSquared and EngineShed) and through IP protection. FARSCOPE-TU's vision of ubiquitous robotics will extend its impact across all UK industrial and social sectors, from energy suppliers, transport and agriculture to healthcare, aging and human-machine interaction. It will pump-prime ubiquitous UK robotics, inspiring and enabling myriad new businesses and economic and social impact opportunities.
6. Long-term Impact: FARSCOPE-TU will have long-term impact beyond the funded lifetime of the Centre through a network for alumni, enabling knowledge exchange and networking between current and past students, and with partners and research groups. FARSCOPE-TU will have significant positive impact on the 80-strong non-CDT postgraduate student body in BRL, extending best-practice in supervision and training.