Baloo: A Large-Scale Hybrid Soft Robotic Torso for Whole-Arm Manipulation
Curtis C. Johnson, Andrew Clawson, Marc D. Killpack

TL;DR
Baloo is a large-scale hybrid soft-rigid robotic torso that demonstrates high payload capacity and effective whole-body manipulation in contact-rich environments, leveraging passive compliance for improved performance.
Contribution
We introduce Baloo, a novel hybrid soft-rigid robotic torso with high payload capacity and successful generalization in grasping diverse objects, showcasing advantages of soft actuators in manipulation.
Findings
Capable of lifting up to 19 kg payloads.
Achieved 100% success in grasping six diverse objects.
Demonstrated effective generalization with simple control strategies.
Abstract
Soft robotic actuators can simplify the design of controllers when operating in contact-rich environments. Importantly, their passive compliance fundamentally alters contact mechanics by smoothing impacts and distributing forces over large areas. By integrating soft actuators, we can perform high-impact, dynamic, and contact-rich tasks that are challenging or impossible for traditional rigid robots. In order to explore the benefits of passive structural compliance and learn to utilize it effectively, we present a prototype robotic torso named Baloo. Baloo's hybrid soft-rigid design incorporates both adaptability from soft components and strength from rigid components with two meter-long, pneumatic robot arms mounted on a rigid torso. The hybrid design is capable of lifting end effector payloads of up to 19 kg, far exceeding many hybrid robot designs. Such payloads are competitive with…
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Taxonomy
TopicsSoft Robotics and Applications · Robot Manipulation and Learning · Prosthetics and Rehabilitation Robotics
