A Resilient, Untethered Soft Robot

被引：900
作者：
Tolley, Michael T. [1 ,2 ]
Shepherd, Robert F. [3 ,4 ]
Mosadegh, Bobak [2 ,3 ]
Galloway, Kevin C. [1 ,2 ]
Wehner, Michael [1 ,2 ]
Karpelson, Michael [1 ,2 ]
Wood, Robert J. [1 ,2 ]
Whitesides, George M. [2 ,3 ]
机构：
[1] Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
[2] Harvard Univ, Wyss Inst Biol Inspired Engn, Boston, MA 02115 USA
[3] Harvard Univ, Dept Chem & Chem Biol, Cambridge, MA 02138 USA
[4] Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
来源：
SOFT ROBOTICS | 2014年 / 1卷 / 03期
关键词：
SILICONES;
D O I：
10.1089/soro.2014.0008
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：213 / 223
页数：11
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