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Related Experiment Video

Updated: Nov 19, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
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RUBIC: An Untethered Soft Robot With Discrete Path Following.

Hsing-Yu Chen1,2, Richard Suphapol Diteesawat1,3, Alice Haynes1,4

  • 1Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom.

Frontiers in Robotics and AI
|January 27, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces RUBIC, a novel soft robot that overcomes control challenges by moving in a discretized 2D space. Its rolling locomotion enables stable platforms for hazardous environments.

Keywords:
RoboSoftfluidic elastomer actuatorslocomotionsoft roboticsuntethered

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Area of Science:

  • Robotics
  • Soft Robotics
  • Control Systems

Background:

  • Soft robots offer adaptability but present control challenges due to their compliance.
  • Existing soft robot control methods can be complex, especially in 2D environments.

Purpose of the Study:

  • To present RUBIC (Rolling, Untethered, Ballooning, Intelligent Cube), a soft robot designed for controlled 2D locomotion.
  • To demonstrate a novel gait for soft robots enabling stable platforms and obstacle traversal.

Main Methods:

  • Designed a cube-shaped soft robot with pneumatic ballooning actuators on each face for locomotion.
  • Developed control systems for rolling gait, obstacle climbing, and operation within a discretized Cartesian space.
  • Investigated design and fabrication constraints including materials and control fidelity.

Main Results:

  • RUBIC achieves locomotion by rolling between faces, constrained to a 2D grid.
  • The robot demonstrates stable resting positions suitable for various tasks.
  • RUBIC exhibits a mean locomotion accuracy of 4.58° deviation and can climb steps up to 35% of its height.

Conclusions:

  • Discretizing the workspace of soft robots, as shown with RUBIC, enhances safe and predictable locomotion.
  • RUBIC's design offers a stable platform for applications in structured and hazardous environments.
  • The proposed locomotion scheme improves speed, linearity, and travel distance.