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Legless soft robots capable of rapid, continuous, and steered jumping

Author

Listed:
  • Rui Chen

    (Chongqing University)

  • Zean Yuan

    (Chongqing University)

  • Jianglong Guo

    (Harbin Institute of Technology (Shenzhen))

  • Long Bai

    (Chongqing University)

  • Xinyu Zhu

    (Chongqing University)

  • Fuqiang Liu

    (Chongqing University)

  • Huayan Pu

    (Shanghai University)

  • Liming Xin

    (Shanghai University)

  • Yan Peng

    (Shanghai University)

  • Jun Luo

    (Chongqing University
    Shanghai University)

  • Li Wen

    (Beihang University)

  • Yu Sun

    (University of Toronto)

Abstract

Jumping is an important locomotion function to extend navigation range, overcome obstacles, and adapt to unstructured environments. In that sense, continuous jumping and direction adjustability can be essential properties for terrestrial robots with multimodal locomotion. However, only few soft jumping robots can achieve rapid continuous jumping and controlled turning locomotion for obstacle crossing. Here, we present an electrohydrostatically driven tethered legless soft jumping robot capable of rapid, continuous, and steered jumping based on a soft electrohydrostatic bending actuator. This 1.1 g and 6.5 cm tethered soft jumping robot is able to achieve a jumping height of 7.68 body heights and a continuous forward jumping speed of 6.01 body lengths per second. Combining two actuator units, it can achieve rapid turning with a speed of 138.4° per second. The robots are also demonstrated to be capable of skipping across a multitude of obstacles. This work provides a foundation for the application of electrohydrostatic actuation in soft robots for agile and fast multimodal locomotion.

Suggested Citation

  • Rui Chen & Zean Yuan & Jianglong Guo & Long Bai & Xinyu Zhu & Fuqiang Liu & Huayan Pu & Liming Xin & Yan Peng & Jun Luo & Li Wen & Yu Sun, 2021. "Legless soft robots capable of rapid, continuous, and steered jumping," Nature Communications, Nature, vol. 12(1), pages 1-12, December.
    • Handle: RePEc:nat:natcom:v:12:y:2021:i:1:d:10.1038_s41467-021-27265-w
    DOI: 10.1038/s41467-021-27265-w
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    References listed on IDEAS

    as
    1. Zhenishbek Zhakypov & Kazuaki Mori & Koh Hosoda & Jamie Paik, 2019. "Designing minimal and scalable insect-inspired multi-locomotion millirobots," Nature, Nature, vol. 571(7765), pages 381-386, July.
    2. Wenqi Hu & Guo Zhan Lum & Massimo Mastrangeli & Metin Sitti, 2018. "Small-scale soft-bodied robot with multimodal locomotion," Nature, Nature, vol. 554(7690), pages 81-85, February.
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