Towards a biomorphic soft robot: Design constraints and solutions

Soft animals move by controlling body deformation instead of actuated joints and they are able to exploit changes in conformation for different forms of locomotion. The goal of this study is to identify the key constraints in a soft-bodied animal and attempt to produce locomotion in a robotic platform with the same constraints. We first designed a soft robot platform as a reduced physical model of a caterpillar. Then we fabricated a variety of devices to explore possible modes of locomotion under the constraints of such a body plan. In particular, we found six gaits and several examples in which the soft actuators and body structure determine gait generation. We intend to translate these locomotion methods and body plans directly to a biomorphic robot that is biocompatible and biodegradable. This device will be actuated by cultured insect muscles and made from soft biomaterials.