Abstract -Â Locomoting soft robots typically walk or crawlÂ slowly relative to their rigid counterparts. In order to executeÂ agile behaviors such as jumping, rapid actuation modes areÂ required. Here we present an untethered soft-bodied robotÂ that uses a combination of pneumatic and explosive actuatorsÂ to execute directional jumping maneuvers. This robot canÂ autonomously jump up to 0.6 meters laterally with an apexÂ of up to 0.6 meters (7.5 times itâ€™s body height) and canÂ achieve targeted jumping onto an object. The robot is able toÂ execute these directed jumps while carrying the required fuel,Â pneumatics, control electronics, and battery. We also presentÂ a thermodynamic model for the combustion of butane used toÂ power jumping, and calculate the theoretical maximum workÂ output for the design. From experimental results, we find theÂ mechanical efficiency of this prototype to be 0.8%.
M.T. Tolley, R. Shepherd, M. Karpelson, N. Bartlett, K.C. Galloway, M. Wehner, R. Nunes, G. Whitesides, R. Wood, â€œAn Untethered Jumping Soft Robot,â€ IEEE International Conference on Intelligent Robots and Systems (IROS), 2014.