Logo image
Back
A Legged Soft Robot Platform for Dynamic Locomotion
Conference proceeding   Peer reviewed

A Legged Soft Robot Platform for Dynamic Locomotion

Boxi Xia, Jiaming Fu, Hongbo Zhu, Zhicheng Song, Yibo Jiang and Hod Lipson
2021 IEEE International Conference on Robotics and Automation (ICRA), Vol.2021-, pp.11812-11819
05/30/2021
DOI: https://doi.org/10.1109/ICRA48506.2021.9561018
Web of Science ID: WOS:000771405404016

Metrics

16 Record Views

Abstract

This paper presents 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 in multi-terrain environments. In addition, we simulated the robot in a real-time soft body simulation. With tuned gaits in simulation, the real robot can locomote at a speed of 0.9 m/s (2.5 body length/second), substantially faster than most untethered legged soft robots published to date. We hope this platform, along with its verified simulator, can catalyze agile soft robots' development.

Details

Logo image