2019
DOI: 10.3389/frobt.2019.00052
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RUBIC: An Untethered Soft Robot With Discrete Path Following

Abstract: Soft robots have the potential to diminish the need for humans to venture into unsuitable environments or work in extreme conditions. While their soft nature gives them the advantage of being adaptable to changing environments, their control can be challenging because of the compliance that makes them effective. In this paper we present RUBIC: the Rolling, Untethered, Ballooning, Intelligent Cube, that overcomes some of the difficulties of 2D control by constraining motion to a discretised Cartesian space. RUB… Show more

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Cited by 15 publications
(12 citation statements)
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“…j) Rolling, untethered, ballooning, intelligent (RUBIC) cube comprises four fluidic elastomer actuators on each face of the cube that are selectively inflated to generate a rolling motion capable of k) locomoting over obstacles and l) repositioning. j–l) Reproduced under the terms of the CC‐BY Creative Commons Attribution License ( http://creativecommons.org/licenses/by/4.0/) 334. Copyright 2019 The Authors, published by Frontiers Media S.A.…”
Section: Pneumatics and Hydraulicsmentioning
confidence: 99%
See 1 more Smart Citation
“…j) Rolling, untethered, ballooning, intelligent (RUBIC) cube comprises four fluidic elastomer actuators on each face of the cube that are selectively inflated to generate a rolling motion capable of k) locomoting over obstacles and l) repositioning. j–l) Reproduced under the terms of the CC‐BY Creative Commons Attribution License ( http://creativecommons.org/licenses/by/4.0/) 334. Copyright 2019 The Authors, published by Frontiers Media S.A.…”
Section: Pneumatics and Hydraulicsmentioning
confidence: 99%
“…These function to retract slack on the tubes and trigger contraction or increase slack in the tubes to generate expansion (Figure 15i) 333. A rolling, untethered, ballooning, intelligent (RUBIC) cube was reported by Chen et al that is comprised of four selectively inflatable elastomer actuators (one on each cube face) is yet another route to generate a rolling motion (Figure 15j) 334. The RUBIC cube is powered internally by an on‐board lithium polymer battery capable of powering 1 h of locomotion for every charge (Figure 15k).…”
Section: Pneumatics and Hydraulicsmentioning
confidence: 99%
“…To further illustrate the capability of our valves, we design and test a hexagonal rolling robot integrated with one bistable valve and six viscous valves. This robot is different from other rolling robots [ 31 , 39 , 40 , 41 , 42 ] due to its ability to roll bi‐directionally with a single pressure input. The robot comprises twelve inflatable chambers evenly distributed along the perimeter of an hexagon (two on each side, see Figure 4 a,b ).…”
Section: Rolling Robotmentioning
confidence: 99%
“…(3) 基于通过电池供能微机电系统的微型泵. 它能 够为机器人提供连续的压缩空气, 但是受重量和体积 限制以及功率的影响, 目前微型气泵所能提供的工作 压力和流量速度相对较小 [274] , 因而限制了其驱动速 度 [28,275] .…”
Section: 功能仿生则侧重于模仿生物在特定环境下的某种 功能 并将其应用于相应的类似工作场景 而实现的方unclassified