A Resilient, Untethered Soft Robot

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A Resilient, Untethered Soft Robot

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Title: A Resilient, Untethered Soft Robot
Author: Tolley, Michael T.; Shepherd, Robert F.; Mosadegh, Bobak; Galloway, Kevin C; Wehner, Michael; Karpelson, Michael; Wood, Robert J.; Whitesides, George McClelland

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Citation: Tolley, Michael T., Robert F. Shepherd, Bobak Mosadegh, Kevin C. Galloway, Michael Wehner, Michael Karpelson, Robert J. Wood, and George M. Whitesides. 2014. “A Resilient, Untethered Soft Robot.” Soft Robotics 1 (3) (September): 213–223. doi:10.1089/soro.2014.0008.
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Abstract: 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 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. 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.
Published Version: doi:10.1089/soro.2014.0008
Terms of Use: This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#OAP
Citable link to this page: http://nrs.harvard.edu/urn-3:HUL.InstRepos:16920697
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