Analysis of Soft Robotics Based on the Concept of Category of Mobility

Figure 4

Demonstration of the scale-dependent adaptation with soft robotics. (a,b) Assumed profiles of the target object. Both (a) and (b) have the same surface roughness (Ra), but (a) contains a single spatial frequency while (b) consists of two frequencies. (c) From the initial flat surface, the shape of the gripper adaptively changes to fit to the object. (d) Evolution of the fitness figure Ra as a function of time. Depending on the minimum scale to be considered (S_min), the dynamics exhibit different characteristics. (e) Estimated number of states and transitions between states at different scales of the model. (f, g) Comparison of the shape change of the soft robot during the adaptation to different target objects [(a) and (b)]. The evolution of Ra (f) and the movement of internal materials (g) differ significantly depending on the target object, although the surface roughness is the same.

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