Soft Robotics

Inexpensive, unmanned autonomous systems that can operate in all domains are on high demand as an important augmentation to expensive manned vehicles. The use of these distributed unmanned autonomous systems in combination with manned systems will significantly enhance the capability of sensing, comprehending, communicating, predicting, planning, and decision making in operations, thus reducing risk and potential loss for marine troops. Manta rays (batoid fish) represent an ideal platform for enhancing the propulsive performance and maneuverability of underwater vehicles/robots. In this type of propulsion, manta rays generate thrust by flapping a pair of broad, flexible, triangular-shaped pectoral fins. They can precisely control the direction and magnitude of the resultant force by modifying the frequency and amplitude of the flapping fins. Therefore, they exhibit high endurance, efficient cruising, remarkable maneuverability, and silent propulsion, all desired attributes of bio-inspired underwater vehicles (BIUV). Meanwhile, snakes are efficient locomotors that can slither on land, squeeze into tight spaces, crawl through narrow confined spaces, climb trees, and swim. Some snakes, like pythons, can even capture large animals such as deer or alligators. Hence they provide great sources of inspiration for researchers to design snake-inspired robotics that can perform similar tasks. Rafsanjani et al. recently developed a snake-inspired robot that uses kirigami, the ancient art of paper craft involving cuts, to increase the friction for locomotion. Other snake-inspired robots use rigid modular components with hinges that are bulky and less deformable. However, no snake-mimetic robot to date faithfully replicates the natural locomotion and gripping abilities. The objective of this research is to develop new prototypes of actuators and autonomous robots that takes advantage of multistability and reconfigurability of thin structures to mimic the mechanisms underlying the delicate control, maneuverability, and agility of swimming species.