Tolley, Michael T.Shepherd, Robert F.Mosadegh, BobakGalloway, Kevin CWehner, MichaelKarpelson, MichaelWood, RobertWhitesides, George2015-06-302014Tolley, 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.2014.0008.2169-5172http://nrs.harvard.edu/urn-3:HUL.InstRepos:16920697A 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.en-USJournal Article2015-06-3010.1089/soro.2014.0008