Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Self-Deployable, Adaptive Soft Robots Based on Contracting-Cord Particle Jamming

Wenzhong Yan, Brian Ye, Mingxi Li, Jonathan B. Hopkins, Ankur Mehta

Abstract

We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We demonstrate this with a tripod-shaped robot, TripodBot, consisting of three CCPJ-based legs attached to a central body. TripodBot is intrinsically soft and can be stored and transported in a compact configuration. On site, it can self-deploy and crawl in a slip-stick manner through the shape morphing of its legs; a simplified analytical model accurately captures the speed. The robot's adaptability is demonstrated by its ability to navigate tunnels as narrow as 61 percent of its deployed body width and ceilings as low as 31 percent of its freestanding height. Additionally, it can climb slopes up to 15 degrees, carry a load of 5 grams (2.4 times its weight), and bear a load 9429 times its weight.

Self-Deployable, Adaptive Soft Robots Based on Contracting-Cord Particle Jamming

Abstract

We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We demonstrate this with a tripod-shaped robot, TripodBot, consisting of three CCPJ-based legs attached to a central body. TripodBot is intrinsically soft and can be stored and transported in a compact configuration. On site, it can self-deploy and crawl in a slip-stick manner through the shape morphing of its legs; a simplified analytical model accurately captures the speed. The robot's adaptability is demonstrated by its ability to navigate tunnels as narrow as 61 percent of its deployed body width and ceilings as low as 31 percent of its freestanding height. Additionally, it can climb slopes up to 15 degrees, carry a load of 5 grams (2.4 times its weight), and bear a load 9429 times its weight.
Paper Structure (12 sections, 8 theorems, 72 equations, 2 figures, 2 tables)

This paper contains 12 sections, 8 theorems, 72 equations, 2 figures, 2 tables.

Table of Contents

  1. Hamiltonian Mechanics
  2. Fixed-Period Problems: The Sublinear Case
  3. Autonomous Systems
  4. The General Case: Nontriviality.
  5. Notes and Comments.
  6. Notes and Comments.
  7. Theoretical Contributions
  8. Fixed-Period Problems: The Sublinear Case
  9. Autonomous Systems
  10. The General Case: Nontriviality.
  11. Notes and Comments.
  12. Notes and Comments.

Key Result

proposition 1

Assume $H'(0)=0$ and $H(0)=0$. Set: If $\gamma < - \lambda < \delta$, the solution $\overline{u}$ is non-zero:

Figures (2)

  • Figure 1: This is the caption of the figure displaying a white eagle and a white horse on a snow field
  • Figure 2: This is the caption of the figure displaying a white eagle and a white horse on a snow field

Theorems & Definitions (16)

  • proposition 1
  • proof
  • corollary 1
  • proof
  • lemma 1
  • proof
  • theorem 1: Ghoussoub-Preiss
  • definition 1
  • proposition 2
  • proof
  • ...and 6 more