JSEL: jamming skin enabled locomotion

Authors:
E. Steltz;A. Mozeika;N. Rodenberg;E. Brown;H. M. Jaeger
Affiliations:
iRobot Corporation, Bedford, MA;iRobot Corporation, Bedford, MA;The James Franck Institute, The University of Chicago, Chicago, IL;The James Franck Institute, The University of Chicago, Chicago, IL;The James Franck Institute, The University of Chicago, Chicago, IL
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

A soft, mobile, morphing robot is a desirable platform for traversing rough terrain and navigating into small holes. In this work, a new paradigm in soft robots is presented that utilizes jamming of a granular medium. The concept of activators (as opposed to actuators) is presented to jam and unjam cells that then modulate the direction and amount of work done by a single central actuator. A prototype jamming soft robot utilizing JSEL (Jamming Skin Enabled Locomotion) with external power and control is discussed and both morphing results and mobility (rolling) results are presented. Future directions for the design of a soft, hole traversing robot are discussed, as is the role and promises of jamming as an enabling technology for soft robotics.