7 accepted papers
Isoperimetric robots can dramatically change shape to adapt to different tasks. They are built from triangle modules, each formed by a continuous structural member that passes through three roller units, one at each corner. The robot changes shape as the roller units drive along the structural membe
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape- an octahedron. These robots consist of independent triangles that can change shape while maintaining their perimeter by moving the relative positi
Incorporating compliance into shape-changing displays can improve their wearability and actuation modalities. While recent advances in soft actuators highlight promising paths for soft shape-changing displays, these displays currently face some practical challenges of device failure and limited actu…
Soft isoperimetric truss robots have demonstrated an ability to grasp and manipulate objects using the members of their structure. The compliance of the members affords large contact areas with even force distribution, allowing for successful grasping even with imprecise open-loop control. In this w…
Tip-extending soft robots that “grow” via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three degrees of freedom using actuators that direct the tip in combi
We present a pneumatic actuator capable of changing length by 1000%, applying both pushing and pulling forces, and independently modulating its length and stiffness. These characteristics are enabled by individually addressable internal and external chambers that work antagonistically against one an…
We present the design, modeling, and implementation of a novel pneumatic actuator, the Pneumatic Reel Actuator (PRA). The PRA is highly extensible, lightweight, capable of operating in compression and tension, compliant, and inexpensive. An initial prototype of the PRA can reach extension ratios gre…