A Resilient, Untethered Soft Robot | Zendy

Michael T. Tolley | Zendy; Robert F. Shepherd | Zendy; Bobak Mosadegh | Zendy; Kevin C. Galloway | Zendy; Michael Wehner | Zendy; Michael Karpelson | Zendy; Robert J. Wood | Zendy; George M. Whitesides | Zendy

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A Resilient, Untethered Soft Robot

Author(s) -

Michael T. Tolley,

Robert F. Shepherd,

Bobak Mosadegh,

Kevin C. Galloway,

Michael Wehner,

Michael Karpelson,

Robert J. Wood,

George M. Whitesides

Publication year - 2014

Publication title -

soft robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.998

H-Index - 40

eISSN - 2169-5180

pISSN - 2169-5172

DOI - 10.1089/soro.2014.0008

Subject(s) - robot , pneumatic actuator , silicone , actuator , soft robotics , elastomer , mechanical engineering , compressed air , engineering , materials science , automotive engineering , computer science , composite material , electrical engineering , artificial intelligence

A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65-meter-long soft body with modified Pneu-Net actuators capable of operating at the elevated pressures (up to 138kPa) required to actuate the legs of the robot and hold payloads of up to 8kg. The soft robot is safe to interact with during operation, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.

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