Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Soft actuator is the main technology that drives development of soft robotics as it defines capabilities machines. One key challenges in research to simultaneously produce complex morphing (e.g., surface morphing) and high force. Therefore, a robotic pad (SRP) was developed new can potentially tackle this challenge. This article demonstrates highly flexible customization process SRP regarding fabrication, design, force scaling for challenging application: giant manta ray robot with Mobuliform swimming mode. pectoral fins (SRPFs) are customized using robot. Detailed characterization results show SRPFs generate almost 100 N or 25 Nm torque dual curving motion mimic fin kinematics. The able propel decent speed biomimetic motions. As member family, SRPs exhibit strong through robot, they become unique tools many engineers researchers applications requiring morphing.