Soft Electro-hydraulically Actuated Worm (SEA-Worm) Robot for Rapid Locomotion in Granular Media

In collaboration with the University of California San Diego, Artimus Robotics proposes the development of a worm-inspired soft robot that utilizes high-performance hydraulically amplified soft electrostatic (HASEL) actuators. HASEL actuators have proven advantages for the ocean environment and have demonstrated features that are key for enabling high performance soft robotic systems: their hydraulic structure enables the creation of synthetic muscular hydrostats, while their electrohydraulic mechanism provides high-speed actuation and simplicity - with direct conversion of electrical to mechanical energy. Throughout the proposed project, we will develop a soft electro-hydraulically actuated worm (SEA-Worm) robot capable of locomotion in submerged granular media. The envisioned robot will consist of: an intruder segment capable of reducing drag through a combination of low speed body undulation & high speed vibration; anchoring segments that use radial body expansion to support and brace the body of the robot while other elements are pushed (or pulled) forward along the path of motion; an extension segment that provides longitudinal force to propel the robot forward; and a power & control segment that will contain drive & control electronics, sensors, and a battery for untethered autonomous operation. Locomotion will be achieved through coordinated activation of these segments.