The emerging field of soft robotics makes use many classes materials including metals, low glass transition temperature (Tg) plastics, and high Tg elastomers. Dependent on the specific design, all these may result in extrinsically robots. Organic elastomers, however, have elastic moduli ranging from tens megapascals down to kilopascals; robots composed such are intrinsically − they always compliant independent their shape. This class machines has been used reduce control complexity...

In this work we describe an autonomous soft-bodied robot that is both self-contained and capable of rapid, continuum-body motion. We detail the design, modeling, fabrication, control soft fish, focusing on enabling to perform rapid escape responses. The employs a compliant body with embedded actuators emulating slender anatomical form fish. addition, has novel fluidic actuation system drives motion all subsystems traditional onboard: power, actuation, processing, control. At core fish's...

This paper presents the complete development and analysis of a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on antagonistic arrangement circular longitudinal muscle groups Oligochaetes. Sequential motion achieved in flexible braided mesh-tube structure using nickel titanium (NiTi) coil actuators wrapped spiral pattern around circumference. An enhanced theoretical model NiTi spring describes combination martensite deformation elasticity as function...

Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to natural capabilities biological An important requirement enable self-contained soft mobile robots is an on-board power source. In this paper, we present approach create a bio-inspired robotic snake that can undulate in similar way its counterpart using pressure for actuation power, without human intervention. With approach, develop autonomous robot with...

This paper presents an origami-inspired technique which allows the application of 2-D fabrication methods to build 3-D robotic systems. The ability design robots as origami structures introduces a fast and low-cost method modern, real-world applications. We employ laser-machined patterns new class systems for mobility manipulation. Origami use only flat sheet base structure building complicated bodies. An arbitrarily complex folding pattern can be used yield array functionalities, in form...

Origami-inspired manufacturing can produce complex structures and machines by folding two-dimensional composites into three-dimensional structures. This fabrication technique is potentially less expensive, faster, easier to transport than more traditional machining methods, including 3-D printing. Self-folding enhances this method minimizing the manual labor involved in folding, allowing for geometries enabling remote or automated assembly. paper demonstrates a novel of self-folding hinges...

Many pneumatic energy sources are available for use in autonomous and wearable soft robotics, but it is often not obvious which options most desirable or even how to compare them. To address this, we review their relative merits. We evaluate commercially battery-based microcompressors (singly, parallel, series) cylinders of high-pressure fluid (air carbon dioxide). identify density (joules/gram) flow capacity (liters/gram) normalized by the mass entire fuel system (versus net mass) as key...

In this paper we describe the design, fabrication, control, and experimental validation of a soft highly compliant 2D manipulator. The arm consists several body segments actuated using bi-directional fluidic elastomer actuators is fabricated novel composite molding process. We use cascaded PI PID computation drive cylinders to provide closed-loop control curvature for each segment. Furthermore, develop algorithms compute arm's forward inverse kinematics in manner consistent with piece-wise...

This paper presents a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on the unique antagonistic arrangement of radial/circular and longitudinal muscle groups Oligochaeta. Sequential motion achieved in flexible braided mesh-tube structure with NiTi coil actuators. A numerical model for mesh describes how induces robust locomotion details deformation by contraction Several modes are modeled, tested, compared basis speed. entire mechanical made...

This work presents a technique which allows the application of 2-D fabrication methods to build 3-D robotic systems. The ability print robots introduces fast and low-cost method modern, real-world applications. To this end, we employ laser-engraved origami patterns new class systems for mobility manipulation. Origami is suitable printable robotics as it uses only flat sheet base structure building complicated functional shapes, can be utilized robot bodies. An arbitrarily complex folding...

Robot manufacturing is currently highly specialized, time consuming, and expensive, limiting accessibility customization. Existing rapid prototyping techniques (e.g., 3-D printing) can achieve complex geometries are becoming increasingly accessible; however, they limited to one or two materials cannot seamlessly integrate active components. We propose an alternative approach called printable robots that takes advantage of available planar fabrication methods create integrated...

Printing and folding are fast inexpensive methods for prototyping complex machines. Self-assembly of the step would expand possibilities this method to include applications where external manipulation is costly, such as micro-assembly, mass production, space applications. This paper presents a self-folding printed robots from two-dimensional materials based on shape memory polymers actuated by joule heating using embedded circuits. was shown be capable sequential folding, angle-controlled...

This paper describes a modular approach to creating soft robotic systems. The basis of these systems is an elastomeric actuation element powered by direct mechanical energy in the form pressurized fluids. Fluidic elastomer actuators are fast and inexpensive fabricate offer safety adaptability Arrangements units can yield arbitrarily complex motions achieve various functionalities. Actuation power be generated on-board pneumatic battery, which harnesses catalyzed chemical decomposition...

Real-world environments are complex, unstructured, and often fragile. Soft robotics offers a solution for robots to safely interact with the environment human coworkers, but suffers from host of challenges in sensing control continuously deformable bodies. To overcome these challenges, this article considers modular soft robotic architecture that proprioceptive pressure-operated bending actuation modules. We present integrated custom magnetic curvature sensors embedded neutral axis...

For a mobile robot undergoing serpentine locomotion, an accurate dynamic model is fundamental requirement for optimization, control, navigation, and learning algorithms. Such algorithms can be readily implemented traditional rigid robots, but remain challenge nonlinear low-bandwidth soft robotic systems. This article addresses the theoretical modeling of dynamics pressure-operated snake robot. A general framework detailed to solve 2D problem robot, which applicable most robots developed by...

Continuum robot arms, with their hyper-redundant continuously deformable bodies, show great promise in applications deemed impossible for traditional rigid arms discrete links and joints, such as navigating tight corners without getting stuck. However, existing continuum robots suffer from excessive twisting when subjected to offset loading, even resulting own body weight, which reduces dexterity precision. In this work, we present a manipulator that is capable of providing passive torsional...

Soft robotic snakes promise significant advantages in achieving traveling curvature waves with a reduced number of active segments as well allowing for safe and adaptive interaction the environment human users. However, current soft robot platforms suffer from lack accurate theoretical dynamic models proprioceptive measurements, which impede advancements toward full autonomy. To address this gap, paper details our recent results on design, fabrication, experimental evaluation new-generation...

Snake robots offer a useful and unique mobility platform for search-and-rescue applications. However, existing prototypes made of rigid links joints are hampered by lack flexibility that limits their utility in highly cluttered, maze-like environments, heavy weight energy-efficiency performance three-dimensional (3-D) tasks. To address these challenges, this letter presents new approach using cylindrical, origami continuum modules driven internal cables electric motors, as well local...

This paper presents the design, fabrication, and evaluation of a novel type valve that uses an electropermanent magnet [1]. is then used to build actuators for soft robot. The developed EPM valves require only brief (5 ms) pulse current turn flow on or off indefinite period time. EPMvalves are characterized demonstrated be well suited control elastomer fluidic actuators. drive pressurization depressurization channels within Furthermore, forward locomotion soft, multi-actuator rolling robot...

Soft robotics carries the promise of making robots as capable and adaptable biological creatures, but this will not be possible without ability to perform self-sensing control with precision repeatability. In paper, we seek address need development a new pneumatically-actuated soft bending actuation module integrated curvature sensing. We designed fabricated two different versions module: One commercially available resistive flex sensor other magnetic our own design, used an external motion...

Soft pneumatic actuators provide many exciting properties, but controlling them without the use of bulky and expensive flow-control valves can be difficult computationally expensive. We seek a solution to this problem by introducing an inexpensive reliable muscle-like linear soft actuator used antagonistically operate rigid 1-DoF joint, resulting in system that combines advantages robotics. Using setup, we performed precise motion control using sliding mode feedback controller as well...

Soft pneumatic actuators enable robots to interact safely with complex environments, but often suffer from imprecise control and unpredictable dynamics. This letter addresses these challenges through the use of model reference adaptive control, which modulates input plant ensure that it behaves similarly a dynamic model. We standardize performance soft eliminate their nonlinear behavior. implement an controller chosen for its simplicity efficiency, study ability this force different behave...