Versatile and Dexterous Soft Robotic Leg System for Untethered Operations

Abstract In this study we show the design and construction of an efficient soft robotic leg system, capable of generating large amounts of force with three degrees of freedom. The legs are inexpensive and easy to construct with forms created from PVC pipe and aluminum rod available at any hardware store. By combining six leg units, we construct a mobile robotic platform which is capable of untethered movement for several hours. Intel's quad-core Compute Stick provides enough computational resources to implement artificial intelligence capabilities, such as navigation, object detection and identification, facial recognition, and even verbal interaction. Additionally, direct control can be accomplished through wireless internet connection to an end user located anywhere in the world.