Soft Robotics for Space Applications: Towards a Family of Locomotion Platforms

摘要

Soft robotics have been proposed for space ap-plications due to their inherent compliance and novel loco-motion methods. They provide promising solutions to current challenges in space environments; however, extreme temperature, radiation and vacuum conditions prevent the usage of traditional soft materials. We present a design methodology focused on exploring the use of flexible metallic modules as the basis for a modular soft robotic limb applicable to space. We generalise this limb into a family of locomotion platforms to enable the development and evaluation of novel forms of locomotion specifically targeted to soft robotics in space environments. Preliminary validation of the system's functionality in extreme temperatures is conducted by operating a cryogenically cooled soft robotic limb. Finally, we present our methods for evaluating soft robotic locomotion in analogue space environments using a soft robotic triped, a member of the family of proposed locomotion platforms. This research contributes to the ongoing exploration of soft robotics usage in space, offering a framework for the comparison and evaluation of novel locomotion strategies.