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Soft robotics holds tremendous potential for various applications, especiallyin unstructured environments such as search and rescue operations. However, thelack of autonomy and teleoperability, limited capabilities, absence of gaitdiversity and real-time control, and onboard sensors to sense the surroundingsare some of the common issues with soft-limbed robots. To overcome theselimitations, we propose a spatially symmetric, topologically-stable,soft-limbed tetrahedral robot that can perform multiple locomotion gaits. Weintroduce a kinematic model, derive locomotion trajectories for differentgaits, and design a teleoperation mechanism to enable real-time human-robotcollaboration. We use the kinematic model to map teleoperation inputs andensure smooth transitions between gaits. Additionally, we leverage the passivecompliance and natural stability of the robot for toppling and obstaclenavigation. Through experimental tests, we demonstrate the robot's ability totackle various locomotion challenges, adapt to different situations, andnavigate obstructed environments via teleoperation.

Teleoperation of Soft Modular Robots: Study on Real-time Stability and Gait Control