The one-to-one mapping of control inputs to actuator outputs results in elaborate routing architectures that limit how complex fluidic soft robot behaviours can currently become. Embodied intelligence can be used as a tool to counteract this phenomenon. Control functionality can be embedded directly into actuators by leveraging the characteristics of fluid flow phenomena. Whilst prior soft robotics work has focused exclusively on actuators operating in a state of transient/no flow (constant pressure), or pulsatile/alternating flow, our work begins to explore the possibilities granted by operating in the closed-loop flow recirculation regime. Here we introduce the concept of FlowBots: soft robots that utilise the characteristics of continuous fluid flow to enable the embodiment of complex control functionality directly into the structure of the robot. FlowBots have robust, integrated, no-moving-part control systems, and these architectures enable: monolithic additive manufacturing methods, rapid prototyping, greater sustainability, and an expansive range of applications. Based on three FlowBot examples: a bidirectional actuator, a gripper, and a quadruped swimmer - we demonstrate how the characteristics of flow recirculation contribute to simplifications in fluidic analogue control architectures. We conclude by outlining our design and rapid prototyping methodology to empower others in the field to explore this new, emerging design field, and design their own FlowBots.

翻译：控制输入与执行器输出之间的一一对应关系导致了复杂的布线架构，这限制了当前流体软体机器人行为的复杂性。具身智能可作为应对这一现象的工具，通过利用流体流动现象的特性，将控制功能直接嵌入执行器中。尽管以往的软体机器人研究仅聚焦于执行器在瞬态/无流动（恒压）或脉动/交替流动状态下的运行，我们的工作开始探索在闭环流动循环模式下运行所赋予的可能性。本文提出FlowBot这一概念：一种利用连续流体流动特性、将复杂控制功能直接具身于机器人结构中的软体机器人。FlowBot具有鲁棒、集成、无运动部件的控制系统，其架构支持：一体化增材制造方法、快速原型制作、更高的可持续性以及广泛的应用场景。基于三个FlowBot实例——双向执行器、抓取器和四足游泳器——我们展示了流动循环特性如何促进流体模拟控制架构的简化。最后，我们概述了设计及快速原型制作方法，以赋能该领域的研究者探索这一新兴设计领域，并设计出他们自己的FlowBot。