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Amphibious passive adaptation in untethered soft robots.

Shukun Yin1, Dickson R Yao1, Inho Kim1

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Area of Science:

  • Robotics
  • Materials Science
  • Biomimetics

Background:

  • Mobile robots face challenges traversing diverse terrains due to fixed morphologies.
  • Existing adaptive robots often require complex electronics and high energy consumption.
  • Biomimetic designs can be limited in exploiting engineered mechanisms.

Purpose of the Study:

  • To develop an untethered adaptive soft robot capable of multimodal locomotion.
  • To achieve passive reconfiguration for enhanced efficiency in terrestrial, aquatic, and transitional environments.
  • To integrate bioinspired mechanisms for efficient power and locomotion.

Main Methods:

  • Developed AdaptBot, integrating rigid machinery with responsive soft materials.
  • Utilized a photothermal artificial muscle (PAM) for locomotion powered by light.
  • Incorporated a fast and large swelling hydrogel (FLASH) for passive fin deployment.
  • Employed a ratcheting transmission to convert motion for forward locomotion.

Main Results:

  • AdaptBot demonstrated multimodal performance: rolling, load-carrying, climbing, and paddling.
  • The robot operates wirelessly across terrestrial, aquatic, and transitional environments.
  • Passive fin deployment resulted in a 780% increase in swimming speed.

Conclusions:

  • Passive adaptation is an effective strategy for enhancing robotic locomotor efficiency.
  • AdaptBot showcases the potential of integrating soft materials with rigid components for adaptive robots.
  • The robot's design offers a low-energy, efficient solution for operation in unstructured and dynamic environments.