A Legged Soft Robot Platform for Dynamic Locomotion
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2020
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| _version_ | 1866929758594400256 |
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| author | Xia, Boxi Fu, Jiaming Zhu, Hongbo Song, Zhicheng Jiang, Yibo Lipson, Hod |
| author_facet | Xia, Boxi Fu, Jiaming Zhu, Hongbo Song, Zhicheng Jiang, Yibo Lipson, Hod |
| contents | 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 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 the development of soft robotics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2011_06749 |
| institution | arXiv |
| publishDate | 2020 |
| record_format | arxiv |
| spellingShingle | A Legged Soft Robot Platform for Dynamic Locomotion Xia, Boxi Fu, Jiaming Zhu, Hongbo Song, Zhicheng Jiang, Yibo Lipson, Hod Robotics 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 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 the development of soft robotics. |
| title | A Legged Soft Robot Platform for Dynamic Locomotion |
| topic | Robotics |
| url | https://arxiv.org/abs/2011.06749 |