Multigait soft robot
Robert F. Shepherd,Filip Ilievski,Wonjae Choi,Stephen A. Morin,Adam A. Stokes,Aaron D. Mazzeo,Xin Chen,Michael Wang,George M. Whitesides +8 more
TLDR
This manuscript describes a unique class of locomotive robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals that do not have hard internal skeletons, and illustrates an advantage of soft robotics.Abstract:
This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.read more
Citations
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Journal ArticleDOI
Design, fabrication and control of soft robots
Daniela Rus,Michael T. Tolley +1 more
TL;DR: This Review discusses recent developments in the emerging field of soft robotics, and explores the design and control of soft-bodied robots composed of compliant materials.
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Soft robotics: a bioinspired evolution in robotics.
TL;DR: Emerging soft-bodied robotic systems are reviewed to endow robots with new, bioinspired capabilities that permit adaptive, flexible interactions with unpredictable environments and to reduce the mechanical and algorithmic complexity involved in robot design.
Journal ArticleDOI
An integrated design and fabrication strategy for entirely soft, autonomous robots
Michael Wehner,Michael Wehner,Ryan L. Truby,Ryan L. Truby,Daniel J. Fitzgerald,Daniel J. Fitzgerald,Bobak Mosadegh,Bobak Mosadegh,George M. Whitesides,George M. Whitesides,Jennifer A. Lewis,Jennifer A. Lewis,Robert J. Wood,Robert J. Wood +13 more
TL;DR: An untethered operation of a robot composed solely of soft materials that autonomously regulates fluid flow and, hence, catalytic decomposition of an on-board monopropellant fuel supply is reported.
Journal ArticleDOI
Embedded 3D Printing of Strain Sensors within Highly Stretchable Elastomers
Joseph T. Muth,Daniel M. Vogt,Ryan L. Truby,Yigit Menguc,David B. Kolesky,Robert J. Wood,Jennifer A. Lewis +6 more
TL;DR: A new method, embedded-3D printing (e-3DP), is reported for fabricating strain sensors within highly conformal and extensible elastomeric matrices.
Journal ArticleDOI
An electrically and mechanically self-healing composite with pressure- and flexion-sensitive properties for electronic skin applications
TL;DR: This work describes a composite material composed of a supramolecular organic polymer with embedded nickel nanostructured microparticles, which shows mechanical and electrical self-healing properties at ambient conditions and shows that the material is pressure- and flexion-sensitive, and therefore suitable for electronic skin applications.
References
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MonoSLAM: Real-Time Single Camera SLAM
TL;DR: The first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to structure from motion approaches is presented.
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A Theory of Large Elastic Deformation
TL;DR: In this paper, it was deduced that the general strain energy function, W, has the form W=G4 ∑ i=13(λi−1λi)2+H 4 ∑ t=13 (λi2−1 ε)2 + H 4, where the λi's are the principal stretches, G is the modulus of rigidity, and H is a new elastic constant not found in previous theories.
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Soft lithography for micro- and nanoscale patterning
TL;DR: This protocol provides an introduction to soft lithography—a collection of techniques based on printing, molding and embossing with an elastomeric stamp that has emerged as a technology useful for a number of applications that include cell biology, microfluidics, lab-on-a-chip, microelectromechanical systems and flexible electronics/photonics.
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A New Constitutive Relation for Rubber
TL;DR: In this paper, a simple, two-constant, constitutive relation, applicable over the entire range of strains, is proposed for rubber networks and behavior in simple extension is derived as an example.