Dual modality for rigid & soft robot limbs

This project will create a variable compliance robot link that can transform from fully rigid to soft, thereby bridging the gap between traditional and soft robotics to leverage the advantages of each.

Background & motivation
Traditional robotics relies on rigid bodies connected via joints and actuators to interact with their environment. These rigid systems are ideal for large transferring forces to their environment but suffer from an inherent limitation in their ability to deal with environmental uncertainty, requiring complex and adaptable control methods to deal with said uncertainty. Soft robotics is a rapidly advancing field, developing robots whose natural compliance makes them more robust to uncertainty and whose morphology can create complex behaviours and interactions from simple input - e.g. grippers able to delicately handle fragile objects with only one or two DoF input [1].
Variable compliance is a large, growing field within soft robotics [2] which aims to create robots which can change their properties and exhibit various levels of softness for different tasks. This project is a logical extension of previous dissertation work, incorporating traditional robotic morphology and control into a variable compliance system.

Intended methodology
The initial concept behind this project is a series of small, rigid links connected either via hinges or some partly soft material. These links would connect together to form a rigid whole, allowing control via traditional rigid robot methods. At will, these links would also be able to disconnect to create a soft, bendable link similar to the soft-SixthFinger discussed in [3].
This is not the only possible solution, there is a large array of variable compliance technology which can be explored to provide the desired functionality [2].
Possible actuation methods will also be explored, there is potential for using tendons or shape-memory alloys, similar to the manipulators in [4] or for servo-motors embedded in the joints, similar to many other traditional robots.
One other avenue of research will be to dynamically create joints in rigid links, allowing for many different morphologies depending on the current task, leading to a very versatile platform.
Additionally, the project will investigate the possibility of sheathing the core structure in a softer variable compliance material, such that the core provides load bearing capacity whilst the outer performs small-scale compliance tasks for the purpose of gripping and friction.

Aims
Create a variable compliant robot link capable of transitioning between fully rigid and somewhat soft.
Explore actuation methods capable of controlling the robot in both rigid and soft modalities.
Explore dynamically creating/moving joints to allow multiple morphologies.
Explore the usefulness of a surrounding soft material for small-scale compliance supported by the stiffer inner core.

Rapid growth in the already burgeoning Robotics and Autonomous Systems (RAS) market has been estimated from many sources. This growth is driven by socio-economic needs and enabled by advances in algorithms and technologies converging on robotics. The market potential for applications of robotics and autonomous systems is, therefore, of huge value to the UK. There are four major areas where FARSCOPE will strive to fulfil and deliver on the impact agenda.

1. Training: A coherent strategy for impact must observe the value of the 'innovation pipeline'; from training of world-class researchers to novel products in the 'shop window'. The FARSCOPE training programme described in the Case for Support will produce researchers who will be able to advance knowledge, expertise and skills in the many associated aspects of academic pursuit in the field. Crucially, they will be guided by its industrial partners and BRL's Industrial Advisory Group, so that they are grounded in the real-world context of the many robotics and autonomous systems application domains. This means pursuing research excellence while embracing the challenges set within the context of a range of real-world factors.

2. Economic and Social Exploitation: The elevated position of advanced robotics, in the commercial 'value chain', makes it imperative that we create graduates from our Centre who are acutely aware of this potential. BRL is centrally engaged in its regional SME and business ecology, as evidenced by its recent industry workshop and 'open lab' events, which attracted some 60 and 280 industrial delegates respectively. BRL is also a key contributor to regional economic innovation. BRL has engaged two business managers and allocated some dedicated space to specifically support work on RAS related industrial engagement and innovation and, importantly, technology incubation. BRL will be creating an EU-funded Robotics Innovation Facilities to help coordinating a EUR 20m a programme to specifically promote and encourage direct links between academia and industry with a focus on SMEs. All of these high-impact BRL activities will be fed directly into the FARSCOPE programme.

A critical mass of key industrial and end-user partnerships across a diverse array of sectors have given their support to the FARSCOPE centre. All have indicated their interest in engaging through the FARSCOPE mechanisms identified in the Case for Support. These demonstrate the impact of the FARSCOPE centre in engaging existing, and forming new, strategic partnerships in the RAS field.

3. Fostering links with other Research Institutions and Academic Dissemination: It is essential that FARSCOPE CDT students learn to share best practice with other RAS research centres, both in the UK and beyond. In addition to attendance and presentation at academic conferences nationally and overseas, FARSCOPE will use the following mechanisms to engage with the academic community. BRL has very many strong links with the UK, EU and global RAS research community. We will use these as a basis for cementing existing links and fostering new ones.

4. Engaging the Public: FARSCOPE will train and then encourage its student cohorts to engage with the general public, to educate about the potential of these new technologies, to participate in debates on ethics, safety and legality of autonomous systems, and to enthuse future generations to work in this exciting area. UWE and the University of Bristol, BRL's two supporting institutions, host the National Coordinating Centre for Public Engagement. In addition, UWE's Science Communication Unit is internationally renowned for its diverse and innovative activities, which engage the public with science. FARSCOPE students will receive guidance and training in public engagement in order to act as worthy RAS research 'ambassadors'.