US 11,081,975 B2 · Somersaulting motion of soft bodied structure

Abstract

The soft bodied structures and systems for controlling such devices are described herein. The soft bodied structures can, through a series of soft hydraulic actuators, move from a first position to a second position by a somersaulting motion. The system can include connecting to a first contact point of the surface using a surface attachment. The rigidity of the controllably resistive material can then be increased. The medial hydraulic actuators can be actuated to expand the exterior medial surface, creating a bend. The device can then attach to a second contact point using the surface attachment and the end portion actuator of the unattached end portion. Then, the surface attachment of the first attached end portion can detach. The medial hydraulic actuators and the controllably resistive material can then relax, followed by detaching the surface attachment of the second attached end portion.

Claims20

Dependent claims

A soft bodied structure comprising:

a first end portion comprising:
a first actuator;
and
a first surface attachment configured to attach to a surface upon actuation of the first actuator;
a second end portion comprising:
a second actuator;
and
a second surface attachment configured to attach to a surface upon actuation of the second actuator;
a medial portion positioned between and connected to the first end portion and the second end portion, the medial portion comprising;
one or more medial actuators;
a controllably resistive material connected to the one or more medial actuators, the controllably resistive material providing a mechanical resistance upon receiving an input;
and
a control device configured to control the first actuator, the second actuator, and the one or more medial actuators using one or more electrical inputs, and to create a somersault-like motion in the soft bodied structure relative to the surface.

10 more elements

A soft bodied structure comprising:

a first end portion configured to hydraulically actuate in response to a first input and to controllably attach to a first contact point of a surface in response to an actuation of the first end portion;
a second end portion configured to hydraulically actuate in response to a second input and to controllably attach to a second contact point of the surface in response to the actuation of the second end portion, wherein the first end portion and the second end portion attach to the surface in an alternating fashion;
a medial portion positioned between and connected to the first end portion and the second end portion, the medial portion configured to expand substantially in one direction creating an arch;
and
an electrical device connected with the first end portion, the second end portion, and the medial portion, the electrical device configured to control the actuation of the first end portion, the second end portion, and the medial portion using one or more electrical inputs.

2 more elements

Dependencies are inferred from the claim text.

Somersaulting motion of soft bodied structure

Life of this patent

Somersaulting motion of soft bodied structure

Life of this patent

Abstract

Claims20