On the Potential of Hydrogen-Powered Hydraulic Pumps for Soft Robotics.

To perform untethered operations, soft robots require mesoscale power units (10-1000 W) with high energy densities. In this perspective, air-breathing combustion offers an interesting alternative to battery-powered systems, provided sufficient overall energy conversion efficiency can be reached. Implementing efficient air-breathing combustion in mesoscale soft robots is notoriously difficult, however, as it requires optimization of very small combustion actuators and simultaneous minimization of fluidic (e.g., hydraulic) losses, which are both inversely impacted by actuations speeds. To overcome such challenges, this article proposes and evaluates the potential of hydrogen-powered, hydraulic free-piston pump architecture. Experimental data, taken from two combustion-driven prototypes, reveal (1) the fundamental role of using hydrogen as the source of fuel to reduce heat losses, (2) the significant impact of compression ratio, equivalence ratio, and surface-to-volume ratio on energy conversion efficiency, and (3) the importance of load matching between combustion and fluidic transmission. In this work, a small-bore combustion actuator demonstrated a 20% efficiency and a net mean output power of 26 W, while a big-bore combustion actuator reached a substantially higher efficiency of 35% and a net mean output power of 197 W. Using the small-bore combustion actuator, the hydrogen-powered, hydraulic free-piston pump provided a 4.6% overall efficiency for a 2.34 W net mean output power, thus underlying the potential of the approach for mesoscale soft robotic applications.

Publisher's Note: General scaling relations for locomotion in granular media [Phys. Rev. E 95, 052901 (2017)].

This corrects the article DOI: 10.1103/PhysRevE.95.052901.

General scaling relations for locomotion in granular media.

Inspired by dynamic similarity in fluid systems, we have derived a general dimensionless form for locomotion in granular materials, which is validated in experiments and discrete element method (DEM) simulations. The form instructs how to scale size, mass, and driving parameters in order to relate dynamic behaviors of different locomotors in the same granular media. The scaling can be derived by assuming intrusion forces arise from resistive force theory or equivalently by assuming the granular material behaves as a continuum obeying a frictional yield criterion. The scalings are experimentally confirmed using pairs of wheels of various shapes and sizes under many driving conditions in a common sand bed. We discuss why the two models provide such a robust set of scaling laws even though they neglect a number of the complexities of granular rheology. Motivated by potential extraplanetary applications, the dimensionless form also implies a way to predict wheel performance in one ambient gravity based on tests in a different ambient gravity. We confirm this using DEM simulations, which show that scaling relations are satisfied over an array of driving modes even when gravity differs between scaled tests.