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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2020
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2011.06749 |
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Table of 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.