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Updated: Mar 15, 2026

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

A Recipe for Soft Fluidic Elastomer Robots.

Andrew D Marchese¹, Robert K Katzschmann¹, Daniela Rus¹

¹Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology , Cambridge, Massachusetts.

|September 15, 2016

Summary

This summary is machine-generated.

This study presents methods for creating soft fluidic elastomer robots using silicone rubber. Researchers explored three actuator designs and three fabrication techniques, validating them with physical prototypes.

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Microfluidic Preparation of Liquid Crystalline Elastomer Actuators

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Published on: May 20, 2018

Area of Science:

Robotics
Materials Science
Mechanical Engineering

Background:

Soft robotics is an emerging field with potential applications in various industries.
Designing and fabricating soft fluidic elastomer robots presents unique challenges.
Existing methods for creating soft robots often lack versatility and scalability.

Purpose of the Study:

To explore novel approaches for designing and fabricating soft fluidic elastomer robots.
To investigate different actuator morphologies and casting-based fabrication processes.
To develop methods for creating multi-degree-of-freedom (DOF) soft robots.

Main Methods:

Exploration of three distinct actuator morphologies: ribbed, cylindrical, and pleated internal channel structures.
Investigation of three casting-based fabrication processes: lamination-based, retractable-pin-based, and lost-wax-based casting.
Evaluation of two strategies for multi-DOF robot fabrication: monolithic casting and segment concatenation.

Main Results:

Successful design and fabrication of soft actuators with varied internal channel structures.
Demonstration of multiple casting techniques for producing silicone rubber robot components.
Experimental validation of actuator morphologies and fabrication methods through physical prototypes.
Development of strategies for assembling single-DOF segments into multi-DOF robots.

Conclusions:

The study provides viable approaches for designing and fabricating soft fluidic elastomer robots.
The explored actuator morphologies and fabrication processes offer versatility in soft robot creation.
The findings contribute to the advancement of soft robotics design and manufacturing.
Experimental validation confirms the effectiveness of the proposed methods for creating functional soft robot prototypes.