An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion
Zach J. Patterson,Andrew P. Sabelhaus,Keene Chin,Tess Hellebrekers,Carmel Majidi,Zach J. Patterson,Andrew P. Sabelhaus,Keene Chin,Tess Hellebrekers,Carmel Majidi
Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However, their complex mechanics can make planning and control difficult, particularly with tasks such as locomotion. In this work, we present a mobile and untethered underwater crawling soft robot, PATRICK, paired with a testbed...
