Abstract: This article presents critical design modifications for an Origami-enabled Soft Crawling Autonomous Robot (OSCAR). OSCAR’s upgraded design mitigates motion uncertainties, which often plague soft robots. More specifically, ...

Abstract: A contactaided compliant mechanism (CCM) called a compliant spine (CS) is presented in this paper. It is flexible when bending in one direction and stiff when bending in the opposite direction, giving it a nonlinear bending ...