2026-09-22T03:45:48Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1568202024-09-17T03:51:42Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Rus, Daniela
Sologuren, Emily R.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2024-09-16T13:51:09Z
2024-09-16T13:51:09Z
2024-05
2024-07-11T14:36:36.454Z
https://hdl.handle.net/1721.1/156820
The diverse set of traits that soft-rigid robots possess have the potential to be applied towards a multitude of applications that require both strength and flexibility. This thesis looks at two kinds of soft-rigid robotic systems: the first is a series assembly of soft-rigid modules with stiffness modulation to form a soft-rigid robotic arm, and the second system is a parallel assembly of rigid bones casted into silicone to form a passive soft-rigid flipper for a robotic sea turtle. We first introduce a new class of soft-rigid modules that can modulate their stiffness on a continuum through tendon-driven actuation and the integration of "soft" and "rigid" components. Their serial assembly form a self-standing, soft-rigid robotic arm (SRRA). When coupled with an adapted soft PD+ controller, we generate trajectories that demonstrate the manipulator’s ability to deform for maneuvering tasks and stiffen for load-bearing tasks. The robotic sea turtle’s parallel, soft-rigid flippers emulate those of its animal counterpart. To leverage this structure for underwater locomotion, we look at a CPG-coupled reinforcement learning framework to optimize for a forward swimming gait.
M.Eng.
Massachusetts Institute of Technology
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Copyright retained by author(s)
https://rightsstatements.org/page/InC-EDU/1.0/
Hybrid Soft-Rigid Robots: Investigating Series and Parallel Configurations
Thesis
application/pdf
Master
Master of Engineering in Electrical Engineering and Computer Science
Publication
unknown
unknown
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<Abstract>The diverse set of traits that soft-rigid robots possess have the potential to be applied towards a multitude of applications that require both strength and flexibility. This thesis looks at two kinds of soft-rigid robotic systems: the first is a series assembly of soft-rigid modules with stiffness modulation to form a soft-rigid robotic arm, and the second system is a parallel assembly of rigid bones casted into silicone to form a passive soft-rigid flipper for a robotic sea turtle. We first introduce a new class of soft-rigid modules that can modulate their stiffness on a continuum through tendon-driven actuation and the integration of "soft" and "rigid" components. Their serial assembly form a self-standing, soft-rigid robotic arm (SRRA). When coupled with an adapted soft PD+ controller, we generate trajectories that demonstrate the manipulator’s ability to deform for maneuvering tasks and stiffen for load-bearing tasks. The robotic sea turtle’s parallel, soft-rigid flippers emulate those of its animal counterpart. To leverage this structure for underwater locomotion, we look at a CPG-coupled reinforcement learning framework to optimize for a forward swimming gait.</Abstract>
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