CN116118899B - Linear driving four-foot soft robot - Google Patents
Linear driving four-foot soft robot Download PDFInfo
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- CN116118899B CN116118899B CN202211105163.7A CN202211105163A CN116118899B CN 116118899 B CN116118899 B CN 116118899B CN 202211105163 A CN202211105163 A CN 202211105163A CN 116118899 B CN116118899 B CN 116118899B
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- 238000009434 installation Methods 0.000 claims description 15
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 14
- 239000004917 carbon fiber Substances 0.000 claims description 14
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 12
- 210000003781 tooth socket Anatomy 0.000 claims description 12
- 210000001364 upper extremity Anatomy 0.000 claims description 11
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 6
- 229910002027 silica gel Inorganic materials 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims 1
- 230000005021 gait Effects 0.000 description 14
- 230000009193 crawling Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000005266 casting Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a line-driven four-foot soft robot, comprising: the robot comprises a robot main body, a driving module, a walking module and a control module, wherein the robot main body is a cross-shaped bracket, the driving module comprises a driving motor and a driving wire, and the driving motor is arranged on the cross-shaped bracket; the walking module is a flexible soft leg, the flexible soft leg is arranged on the cross-shaped bracket, and the flexible soft leg is connected with the driving motor through the driving wire; the control module is arranged on the cross-shaped support and is electrically connected with the driving motor, and the driving motor is used for controlling the driving wire to drive the flexible soft legs to swing, so that continuous, rapid and large-scale turning is realized through a simple structure, and the working efficiency of the soft robot is effectively improved.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a line-driven four-foot soft robot.
Background
At present, the driving mode of the soft robot mainly comprises electromagnetic driving, gas driving, memory alloy driving and the like. The existing four-foot crawling pneumatic soft robot adopts gas driving, can realize forward and backward movement and turning actions, and can detect bending states through a flexible tensile strain sensor. The software crawling robot driven by the wires is less. Compared with other driving modes, the linear driving has the characteristics of large driving force, large stroke, high response speed and low cost. However, in the on-line driven soft robot, how to realize the fast and efficient turning motion is always a difficult problem. The existing crawling robot adopts a stay wire drive, can realize forward movement and turning, but has complex structure and lower efficiency.
There is therefore a need for a line-driven four-legged soft robot.
Disclosure of Invention
According to the technical problems of complex structure and low efficiency of the existing soft robot, the linear driving four-foot soft robot is provided. The invention mainly utilizes the driving motor to control the driving wire, and the driving wire drives the flexible soft leg to swing, thereby realizing continuous, rapid and large-amplitude turning through a simple structure and effectively improving the working efficiency of the soft robot.
The invention adopts the following technical means:
A line-driven four-legged soft robot, comprising: the robot comprises a robot main body, a driving module, a walking module and a control module, wherein the robot main body is a cross-shaped bracket, the driving module comprises a driving motor and a driving wire, and the driving motor is arranged on the cross-shaped bracket; the walking module is a flexible soft leg, the flexible soft leg is arranged on the cross-shaped bracket, and the flexible soft leg is connected with the driving motor through the driving wire; the control module is arranged on the cross-shaped bracket and is electrically connected with the driving motor.
Further, the cross support includes cross base and drive mounting structure, drive mounting structure sets up on four terminal surfaces of cross base, drive mounting structure includes driving motor support and flexible soft leg support, be equipped with driving motor seat and motor shaft through hole on the driving motor support, be equipped with soft leg mounting groove and drive line through hole on the flexible soft leg support, driving motor support with pass through between the cross base flexible soft leg support links to each other, flexible soft leg support with be 90 between the driving motor support.
Further, the flexible soft leg is of a strip-shaped silica gel structure, two parallel threading holes are formed in the flexible soft leg, a force unloading groove is formed in the symmetrical end face of the flexible soft leg, which is adjacent to the threading holes, the front end of the flexible soft leg is installed in the soft leg installation groove, and two ends of the driving wire are respectively arranged at the tail ends of the two threading holes.
Further, the middle section of the driving wire is connected to a motor shaft of the driving motor.
Further, the last tooth socket of the symmetrical end face adjacent to the threading hole at the lower end of the flexible soft leg is respectively provided with a driving wire fixing hole, two ends of the driving wire respectively penetrate through the driving wire fixing holes at two sides and are fixed through carbon fiber rods, and the carbon fiber rods are clamped at the last tooth socket.
Compared with the prior art, the invention has the following advantages:
1. according to the line-driven four-foot soft robot, the driving motor is used for controlling the driving line, and the driving line drives the flexible soft legs to swing, so that continuous, rapid and large-amplitude turning is realized through a simple structure, and the working efficiency of the soft robot is effectively improved.
2. The line-driven four-foot soft robot provided by the invention has the characteristics of simple structure, rapid movement, low cost and the like, is suitable for mass production, and has application prospects in the fields of rescue, detection, investigation and the like.
For the reasons, the invention can be widely popularized in the fields of soft robot technology and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is an exploded view of a three-dimensional structure of a line-driven four-legged soft robot according to the present invention.
FIG. 2 is a cross-sectional view of a silicone soft leg of a wire-driven four-legged soft robot according to the present invention.
Fig. 3 is a perspective view of a robot body of a line-driven four-legged soft robot according to the present invention.
FIG. 4 is an initial gait of a line-driven four-legged soft robot of the present invention;
FIG. 5 is a first step gait of a linear motion four-legged soft robot according to the present invention;
FIG. 6 is a second step gait of a linear motion four-legged soft robot according to the present invention;
FIG. 7 is a third step gait of a linear motion four-legged soft robot according to the present invention;
FIG. 8 is a fourth step gait of a linear motion four-legged soft robot of the present invention;
FIG. 9 is a fifth step gait of a linear motion four-legged soft robot in accordance with the present invention;
Fig. 10 shows a sixth step gait of a linear motion four-legged soft robot of the present invention, returning to an initial gait.
FIG. 11 is a right turn first step gait of a line driven four-legged soft robot of the present invention;
FIG. 12 is a right turn second step gait of a line driven four-legged soft robot in accordance with the present invention;
FIG. 13 is a right turn third step gait of a line driven four-legged soft robot in accordance with the present invention;
FIG. 14 is a right turn fourth step gait of a line driven four-legged soft robot of the present invention;
fig. 15 is a right turn fifth step gait of a line driven quadruped soft robot of the present invention, returning to an initial gait.
In the figure: 1. a carbon fiber rod; 2. a front leg; 3. a stepping motor; 4. a driving line; 5. a robot main body; 6. a support frame; 7. a circuit board; 8. a motor driving module; 9. a control module; 10. a left leg; 11. a right leg; 12. and a rear leg.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. Any particular values in all examples shown and discussed herein are to be construed as merely illustrative and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 1-15, the present invention provides a line-driven four-legged soft robot comprising: the robot comprises a robot main body 5, a driving module, a walking module and a control module 9, wherein the robot main body is a cross-shaped bracket, the driving module comprises a driving motor and a driving wire 4, and the driving motor is arranged on the cross-shaped bracket; the walking module is a flexible soft leg which is arranged on the cross-shaped bracket, and the flexible soft leg is connected with the driving motor through the driving wire 4; the control module 9 is arranged on the cross-shaped bracket, and the control module 9 is electrically connected with the driving motor; the cross-shaped support comprises a cross-shaped base and a driving installation structure, wherein the driving installation structure is arranged on four end faces of the cross-shaped base, 45 degrees are formed between the driving installation structure and the cross-shaped base, the driving installation structure comprises a driving motor support and a flexible soft leg support, a driving motor seat and a motor shaft passing hole are formed in the driving motor support, a soft leg installation groove and a driving wire 4 passing hole are formed in the flexible soft leg support, the driving motor support and the cross-shaped base are connected through the flexible soft leg support, and 90 degrees are formed between the flexible soft leg support and the driving motor support; the flexible soft leg is of a strip-shaped silica gel structure, two threading holes which are arranged in parallel are formed in the flexible soft leg, a force unloading groove is formed in the symmetrical end face of the flexible soft leg, which is adjacent to the threading holes, the front end of the flexible soft leg is arranged in the soft leg mounting groove, and two ends of the driving wire 4 are respectively arranged at the tail ends of the two threading holes; the control module 9 is arranged at the center of the cross-shaped bracket through the supporting frame 6; the middle section of the driving wire 4 is connected to a motor shaft of the driving motor, and the driving motor is a stepping motor 3 with a reduction gear set; the lower ends of the flexible soft legs are respectively provided with a driving wire 4 fixing hole at the last tooth socket of the symmetrical end surface adjacent to the threading hole, two ends of the driving wire 4 respectively penetrate through the driving wire 4 fixing holes at two sides and are fixed through the carbon fiber rod 1, and the carbon fiber rod 1 is clamped at the last tooth socket.
Example 1
As shown in fig. 1 to 15, the present invention provides a wire-driven four-legged soft robot comprising a robot body 5, four soft silica gel legs, eight carbon fiber rods 1, four high-strength fishing wires, four stepping motors 3, a supporting frame 6, four motor driving modules 8 and a control module 9.
The soft leg of silica gel is rectangular shape, for convenient bending, and one of them pair of symmetrical side designs into the sawtooth shape. The robot body 5 has four soft leg mounting grooves in the lower part, and two legs far from the center of the robot are front and rear legs, and two legs near are left and right legs, so that the robot is symmetrically designed for unifying forward and backward movements, and the front and rear legs are not different. As are the left and right legs. The installation direction of the four soft legs forms an angle of 45 degrees with the horizontal plane.
Four stepping motor mounting grooves are formed in the upper portion of the robot main body 5 and correspond to the four soft legs respectively. The stepping motor 3 is provided with a reduction gear set, the installation groove is heated firstly during installation, then the reduction gear set is installed in the installation groove, and the reduction gear set can be fixed after cooling. In order to maximize the driving force, the motor shaft is arranged perpendicular to the soft legs.
The stepping motor 3 operates the soft leg by pulling the driving wire 4. The driving wire 4 is directly wound on a D-shaped shaft of the motor, two ends of the wire penetrate through two threading holes reserved on the soft silica gel leg, the two ends of the wire are led out from a last tooth socket at the far end of the soft leg, the two ends of the wire are respectively tied with the carbon fiber rods 1, and finally the carbon fiber rods 1 are clamped in the tooth sockets, so that when the stepping motor rotates along a certain direction, one side of the wire is pulled up, the wire on the other side is lowered, bending moment is applied to the soft leg through the carbon fiber rods 1 clamped in the tooth sockets on the pulling-up side, and the soft leg is bent towards the pulling-up side.
Since the casing of the stepper motor 1 is made of metal, the circuit board 7 is placed too low to have a risk of short circuit, and therefore a supporting frame 6 is required to support the circuit board to a certain height. In order to facilitate the installation of the motor and the driving wire, the support frame 6 and the robot body 5 are separately manufactured. After the stepper motor 3 and the driving wire 4 are installed, the bottom of the supporting frame 6 is adhered to the robot main body 5 by glue, and then the circuit board 7 is adhered to the plane at the top of the supporting frame 6 by glue.
The robot body 5 and the support frame 6 are made of PLA material and are manufactured by 3D printing. The soft leg is made of silica gel, and the manufacturing method comprises the steps of manufacturing a die through 3D printing, and then mixing, casting and forming through silica gel and a curing agent.
The model of the motor driving module 8 is DRV8833, and the model of the control module 9 is STM32F103C8T6.
The straight movement process of the soft robot is as follows;
Motion state 0: as shown in fig. 4, all legs straighten out to an initial state.
Motion state 1: as shown in fig. 5, the rear leg 12 is bent forward by the traction of the stay wire by the driving motor, and at this time, the front three legs are all grounded, so that the rear leg 12 can be moved forward by a small distance.
Motion state 2: as shown in fig. 6, both the left and right legs are bent forward and lifted off the ground at the same time.
Motion state 3: as shown in fig. 7, the front leg 2 is bent forward to allow the robot to fall forward, and the left and right legs are grounded.
Motion state 4: as shown in fig. 8, the left and right legs are simultaneously restored, and the robot is "poked" forward, causing the robot to creep forward.
Motion state 5: as shown in fig. 9, the front leg 2 is restored.
Motion state 6: as shown in fig. 10, the rear leg 12 is restored and the robot is pushed forward a short distance.
And repeating the motion states of 1-5 to realize continuous forward crawling of the robot.
The back-out operation can be achieved by changing the rear leg 12 to the front leg 2 and the front leg 2 to the rear leg 12.
Taking right turn as an example, the turning motion process of the soft robot is described as follows:
Motion state 0: as shown in fig. 4, all legs straighten out to an initial state.
Motion state 1: as shown in fig. 11, the front leg 2 and the rear leg 12 are simultaneously bent inward to jack up the robot and to separate the left and right legs from the ground.
Motion state 2: as shown in fig. 12, the left leg 10 is bent forward and the right leg 11 is bent backward.
Motion state 3: as shown in fig. 13, the front leg 2 and the rear leg 12 are simultaneously bent outward, and the robot is lowered to land the left and right legs.
Motion state 4: as shown in fig. 14, the left leg 10 and the right leg 11 are restored, and the landing points of the left and right legs are not moved by the ground friction, forcing the robot to rotate rightward.
Motion state 5: as shown in fig. 15, the front and rear legs are restored.
And repeating the motion states 1-5 to realize continuous rightward rotation of the robot.
The left turning action can be achieved by changing the movement state 2 to a backward bending of the left leg 10 and a forward bending of the right leg 11.
According to the line-driven four-foot soft robot, the driving motor is used for controlling the driving line, and the driving line drives the flexible soft legs to swing, so that continuous, rapid and large-amplitude turning is realized through a simple structure, and the working efficiency of the soft robot is effectively improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (5)
1. A steering control method of a line-driven four-legged soft robot, comprising: the robot comprises a robot main body, a driving module, a walking module and a control module, wherein the robot main body is a cross-shaped bracket, the driving module comprises a driving motor and a driving wire, and the driving motor is arranged on the cross-shaped bracket; the walking module is a flexible soft leg, the flexible soft leg is arranged on the cross-shaped bracket, and the flexible soft leg is connected with the driving motor through the driving wire; the control module is arranged on the cross-shaped bracket and is electrically connected with the driving motor;
The driving motor is a stepping motor, and the stepping motor enables the soft leg to act by pulling the driving wire; the method comprises the steps of directly winding a driving wire on a D-shaped shaft of a stepping motor, enabling two ends of the wire to pass through two threading holes reserved on a soft silica gel leg, leading out at a last tooth socket at the far end of the soft leg, respectively tying carbon fiber rods at two ends of the wire, and finally clamping the carbon fiber rods in the tooth sockets, so that when the stepping motor rotates along a certain direction, one side of the wire is pulled up, the other side of the wire is pulled down, and bending moment is applied to the soft leg through the carbon fiber rods clamped in the tooth sockets at one side of the pull-up, so that the soft leg is bent at one side of the pull-up; two legs far from the center of the robot are front and rear legs, and two legs close to the center of the robot are left and right legs;
The right movement process of the soft robot is as follows:
Right movement state 0: all legs straighten to an initial state;
right turn motion state 1: the front legs and the rear legs are bent inwards at the same time, so that the robot is jacked up, and the left legs and the right legs are separated from the ground;
right movement state 2: the left leg is bent forwards, and the right leg is bent backwards;
right movement state 3: the front legs and the rear legs are outwards bent at the same time, so that the robot falls down to land the left and right legs;
right movement state 4: the left leg and the right leg are restored, and the landing points of the left leg and the right leg are not moved under the action of ground friction, so that the robot is forced to rotate rightwards;
Right movement state 5: restoring the front and rear legs;
repeating the right-turning motion state 1-5 to realize continuous right-turning of the robot;
the left movement process of the soft robot is as follows:
Left movement state 0: all legs straighten to an initial state;
left turn motion state 1: the front legs and the rear legs are bent inwards at the same time, so that the robot is jacked up, and the left legs and the right legs are separated from the ground;
left movement state 2: the left leg is bent backwards, and the right leg is bent forwards;
left movement state 3: the front legs and the rear legs are outwards bent at the same time, so that the robot falls down to land the left and right legs;
Left movement state 4: the left leg and the right leg are restored, and the landing points of the left leg and the right leg are not moved under the action of ground friction, so that the robot is forced to rotate leftwards;
left movement state 5: restoring the front and rear legs;
The left-turning motion states 1-5 are repeated, so that the robot continuously turns left.
2. The steering control method of the line-driven quadruped soft robot according to claim 1, wherein the cross-shaped support comprises a cross-shaped base and a driving installation structure, the driving installation structure is arranged on four end faces of the cross-shaped base and comprises a driving motor support and a flexible soft leg support, a driving motor seat and a motor shaft through hole are formed in the driving motor support, a soft leg installation groove and a driving line through hole are formed in the flexible soft leg support, the driving motor support is connected with the cross-shaped base through the flexible soft leg support, and a 90-degree angle is formed between the flexible soft leg support and the driving motor support.
3. The steering control method of the line-driven four-foot soft robot according to claim 2, wherein the flexible soft leg is of a strip-shaped silica gel structure, two parallel threading holes are formed in the flexible soft leg, a force unloading groove is formed in the symmetrical end face of the flexible soft leg adjacent to the threading holes, the front end of the flexible soft leg is installed in the soft leg installation groove, and two ends of the driving line are respectively arranged at the tail ends of the two threading holes.
4. The steering control method of a line-driven four-legged soft robot according to claim 1, wherein a middle section of the driving line is connected to a motor shaft of the driving motor.
5. The steering control method of the line-driven four-legged soft robot according to claim 3, wherein a driving line fixing hole is respectively arranged at the last tooth socket of the symmetrical end surface adjacent to the threading hole at the lower end of the flexible soft leg, two ends of the driving line respectively penetrate through the driving line fixing holes at two sides and are fixed through carbon fiber rods, and the carbon fiber rods are clamped at the last tooth socket.
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| CN202211105163.7A CN116118899B (en) | 2022-09-09 | 2022-09-09 | Linear driving four-foot soft robot |
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| EP3392000B1 (en) * | 2012-03-26 | 2020-08-19 | President and Fellows of Harvard College | Systems and methods for providing flexible robotic actuators |
| WO2014138123A1 (en) * | 2013-03-04 | 2014-09-12 | President And Fellows Of Harvard College | Magnetic assembly of soft robots with hard components |
| WO2016053430A2 (en) * | 2014-06-30 | 2016-04-07 | President And Fellows Of Harvard College | Resilient, untethered soft robot |
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| CN209776607U (en) * | 2019-05-09 | 2019-12-13 | 大连交通大学 | soft four-foot robot |
| CN110125924B (en) * | 2019-06-11 | 2021-06-04 | 哈尔滨工业大学 | Soft bionic foot type robot |
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