2021 IEEE 4th International Conference on Soft Robotics (RoboSoft) 2021
DOI: 10.1109/robosoft51838.2021.9479230
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A large-scale, light-weight, and soft braided robot manipulator with rapid expansion capabilities

Abstract: A key challenge in soft robotics is how to design self-supported large-scale soft robots. In order to address this we have created a braided manipulator. The manipulator consists of a biaxially braided cylinder made from twelve glassfiber enforced rods. The manipulator measures 1.38m in height in its equilibrium state and has a diameter of 8.5cm at the top and 20.0cm at the base and only weighs 35g. The manipulator is fixed to a base which weighs 1.9kg in which three stepper motor driven winches are embedded a… Show more

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Cited by 2 publications
(1 citation statement)
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“…Another approach to highly extensible growing structures have been through the use of braiding or weaving. Based on the braiding orientation and materials, the structure can have multi-DOF and be highly compressible/extensible, yet remain lightweight [173]. An interesting approach to growing has been through tip-localized growth, now known as eversion soft systems [137].…”
Section: Energy Managementmentioning
confidence: 99%
“…Another approach to highly extensible growing structures have been through the use of braiding or weaving. Based on the braiding orientation and materials, the structure can have multi-DOF and be highly compressible/extensible, yet remain lightweight [173]. An interesting approach to growing has been through tip-localized growth, now known as eversion soft systems [137].…”
Section: Energy Managementmentioning
confidence: 99%