A Fabrication and Simulation Recipe for Untethering Soft-Rigid Robots with Cable-Driven Stiffness Modulation
James M. Bern,Zach J. Patterson,Leonardo Zamora Yañez,Kristoff K. Misquitta,Daniela Rus,James M. Bern,Zach J. Patterson,Leonardo Zamora Yañez,Kristoff K. Misquitta,Daniela Rus
We explore the idea of robotic mechanisms that can shift between soft and rigid states, with the long-term goal of creating robots that marry the flexibility and robustness of soft robots with the strength and precision of rigid robots. We present a simple yet effective method to achieve large and rapid stiffness variations by compressing and relaxing a flexure using cables. Next, we provide a dif...
