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

TL;DR

This paper introduces a novel soft robot that self-assembles, adapts its stiffness, and navigates complex environments using contracting-cord particle jamming, demonstrating high adaptability and load-bearing capabilities.

Contribution

The development of a self-deployable, adaptive soft robot using contracting-cord particle jamming with integrated shape morphing and analytical modeling.

Findings

Can navigate narrow tunnels and low ceilings.

Capable of climbing slopes up to 15 degrees.

Can carry loads significantly heavier than its own weight.

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.