The Soft Compiler: A Web-Based Tool for the Design of Modular Pneumatic Circuits for Soft Robots
Developing soft circuits from individual soft logic gates poses a unique challenge: with increasing numbers of logic gates, the design and implementation of circuits lead to inefficiencies due to mathematically unoptimized circuits and wiring mistakes during assembly. It is therefore practically imp...
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| Veröffentlicht in: | IEEE robotics and automation letters 2022-07, Vol.7 (3), p.6060-6066 |
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| creator | Kendre, Savita V. Whiteside, Lauryn Fan, Tian Y. Tracz, Jovanna A. Teran, Gus T. Underwood, Thomas C. Sayed, Mohammed E. Jiang, Haihui J. Stokes, Adam A. Preston, Daniel J. Whitesides, George M. Nemitz, Markus P. |
| description | Developing soft circuits from individual soft logic gates poses a unique challenge: with increasing numbers of logic gates, the design and implementation of circuits lead to inefficiencies due to mathematically unoptimized circuits and wiring mistakes during assembly. It is therefore practically important to introduce design tools that support the development of soft circuits. We developed a web-based graphical user interface, the Soft Compiler , that accepts a user-defined robot behavior as a truth table to generate a mathematically optimized circuit diagram that guides the assembly of a soft fluidic circuit. We describe the design and experimental verification of three soft circuits of increasing complexity, using the Soft Compiler as a design tool and a novel pneumatic glove as an input interface. In one example, we reduce the size of a soft circuit from the original 11 logic gates to 4 logic gates while maintaining circuit functionality. The Soft Compiler is a web-based design tool for fluidic, soft circuits and published under an open-source MIT License. |
| doi_str_mv | 10.1109/LRA.2022.3159858 |
| format | Article |
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It is therefore practically important to introduce design tools that support the development of soft circuits. We developed a web-based graphical user interface, the Soft Compiler , that accepts a user-defined robot behavior as a truth table to generate a mathematically optimized circuit diagram that guides the assembly of a soft fluidic circuit. We describe the design and experimental verification of three soft circuits of increasing complexity, using the Soft Compiler as a design tool and a novel pneumatic glove as an input interface. In one example, we reduce the size of a soft circuit from the original 11 logic gates to 4 logic gates while maintaining circuit functionality. 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| ispartof | IEEE robotics and automation letters, 2022-07, Vol.7 (3), p.6060-6066 |
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| subjects | Assembly Circuit design Circuit diagrams Circuits Compilers Fluidic circuit Fluidic circuits Gates (circuits) Graphical user interface Graphical user interfaces Libraries Logic circuits Logic gates Modular design Pneumatic circuits Robots soft bistable valve Soft robotics Valves Wiring |
| title | The Soft Compiler: A Web-Based Tool for the Design of Modular Pneumatic Circuits for Soft Robots |
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