2021 IEEE International Conference on Robotics and Automation (ICRA) 2021
DOI: 10.1109/icra48506.2021.9561018
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A Legged Soft Robot Platform for Dynamic Locomotion

Abstract: We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and soft legs were 3D printed with gyroid infill using a flexible material, enabling it to conform to the environment and passively stabilize during locomotion on multi-terrain environments. In addition, we simulated the robot in a real-time soft body simulation. With tuned gai… Show more

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Cited by 6 publications
(2 citation statements)
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“…The literature reports some cases where FDM was used to print soft robots, like a soft-legged robot presented in Xia and colleagues [7]. It comprises a soft body with motor modules inside, soft legs, and electronics, each leg being independently actuated by a servo motor.…”
Section: Fdmmentioning
confidence: 99%
“…The literature reports some cases where FDM was used to print soft robots, like a soft-legged robot presented in Xia and colleagues [7]. It comprises a soft body with motor modules inside, soft legs, and electronics, each leg being independently actuated by a servo motor.…”
Section: Fdmmentioning
confidence: 99%
“…The operational scope of soft robots has historically been constrained by their dependence on tethers for power and control, leading to a growing interest in soft hybrid systems that integrate soft materials with untethered (rigid) electronic controls. Although soft robotic hybrids have shown promise, they have faced power inefficiency and trajectory control issues [15,16,17,2,5,18]. Pneumatic soft robots with integrated fluidic circuitry, devoid of electronic components, have presented a promising avenue for enhancing resilience and autonomy in soft robotics, addressing constraints associated with tethered designs.…”
Section: Introductionmentioning
confidence: 99%