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Fluid Shifting Worm

A highly unique set of requirements led to the development of the Fluid Shifting Worm morphology, an admittedly strange looking robot.  This soft robot is composed of a number of three-DOF (degrees-of-freedom) tentacle segments with bladders at either end capable of shifting a liquid payload...

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Inflatable Convoluted Universal Joint

The inflatable Convoluted Universal Joint was designed and built for use in an experimental inflatable robot arm.  The convoluted universal joint is driven by three or more electric antagonistic cable spoolers (tendons).  In the implementation described in this article, each joint utilizes twelve spoolers to cooperatively actuate the...

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Jamming Manipulation

Jamming manipulation is a novel approach to robot manipulator design which is based on the use of granular jamming. Granular jamming is the phenomenon by which a granular material in a fluid can reversibly transition between a liquid-like and a solid-like state (it has been...

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Inflatable Anthropomorphic Robot Hand

The Inflatable Anthropomorphic Robot Hand (AIRhand) is a five fingered anthropomorphic gripper with a total of six degrees of freedom.  It was developed specifically for integration onto an experimental inflatable robot arm.  This proof of concept makes use of inflatable structures as the primary structure for the hand.  The...

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Push-button House

The Push-button House was experiment in the re-purpose of a trans-continental shipping container into a >500 SF house.  Its fully automated transformation from shipping container to house, activated by the literal push of a button, is made possible through an integral hydraulic power system.  The sides...

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Compliant Suspension System for a Small Unmanned Ground Vehicle

Clearly a compliant suspension system is beneficial for tracked ground vehicles to negotiate rough terrain at speed.  This is evident in nearly all armored fighting vehicles with tracks.  Until more recently little work had gone into implementing compliant suspension systems for small tracked unmanned ground vehicles....

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Biased Diaphragm Electrolytic Pump

This miniature electrochemical pump was designed and built specifically for reversibly jamming/unjamming a small volume of granular jamming material.  The pump generates pressure by electrolyzing water to form hydrogen and oxygen gas into separated compartments.  A vacuum (for jamming) is formed by recombining the hydrogen...

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Granular Jamming

Granular jamming is the mechanism by which particulate material can transition between a liquid-like and a solid-like state. The most commonly experienced form of jamming can be achieved with a small change in confining volume of the granular material, for instance through application of a vacuum....

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Jamming Skin Polymorph

The Jamming Skin Polymorph, also known as "Jamming Skin Enabled Locomotion" in the literature, is a robot capable of controlled morphing of its extrinsic shape by increasing or decreasing the compliance in portions of its outer skin and changing its overall volume.  The controllable compliance...

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Jamming Modulated Unimorph

The Jamming Modulated Unimorph (JMU) uses a single linear actuator and a discrete number of particle jamming cells to transform the single degree of freedom (DOF) linear actuator into a multi DOF bending actuator.  To achive this, a fluidic artificial muscle (more specifically a McKibben actuator) is used as the...