论文标题
软编译器：一种基于网络的工具，用于设计用于软机器人的模块化气动电路
The Soft Compiler: A Web-Based Tool for the Design of Modular Pneumatic Circuits for Soft Robots
论文作者
论文摘要
从单个软逻辑门中开发软电路带来了一个独特的挑战：随着逻辑门的越来越多，电路的设计和实现导致由于数学上不优化的电路和组装过程中的接线错误而导致效率低下。因此，介绍支持软电路开发的设计工具实际上很重要。我们开发了一个基于Web的图形用户界面软编译器，该编译器接受用户定义的机器人行为作为真实表，以生成数学优化的电路图，从而指导软体流动电路的组装。我们使用软编译器作为设计工具和新型气动手套作为输入界面来描述增加复杂性的三个软电路的设计和实验验证。在一个示例中，我们将软电路的大小从原始的11个逻辑门减少到4个逻辑门，同时保持电路功能。软编译器是一种基于网络的设计工具，可用于流体，软电路，并根据开源MIT许可发布。
Developing soft circuits from individual soft logic gates poses a unique challenge: with increasing numbers of logic gates, the design and implementation of circuits leads 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 open-source MIT License.
