Gait Synthesis for Modular Soft Robots

TitleGait Synthesis for Modular Soft Robots
Publication TypeConference Paper
Year of Publication2016
AuthorsHamill, S, Peele, B, Ferenz, P, Westwater, M, Shepherd, RF, Kress-Gazit, H
Conference NameInternational Symposium on Experimental Robotics
Conference LocationTokyo, Japan
Soft robots present a new opportunity for designing robots that can be produced quickly (on the order of hours), are capable of a variety of motions and behaviors, and are able to address a wide range of environments and tasks. The large design space of soft actuators can be leveraged to rapidly generate libraries of robotic components that can be used to compose modular soft robotic systems. To take full advantage of the large design space, we must have techniques for automatically syn- thesizing soft robot motions and behaviors. In this work, we develop a method for synthesizing gaits for walking soft robots, and show experi- mental results demonstrating synthesized gaits.