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dc.contributor.advisorRanzani, Tommasoen_US
dc.contributor.authorYin, Alexander Heng-Yuen_US
dc.date.accessioned2019-06-24T15:19:58Z
dc.date.issued2019
dc.identifier.urihttps://hdl.handle.net/2144/36032
dc.description.abstractIn recent years, the field of Soft Robotics has grown exponentially resulting in a variety of different soft robot designs. A majority of the current soft robots can easily be split into two distinct categories: Navigation and Grasping. Navigation robots alter their body orientation to navigate around an environment. Grasping robots are designed to grasp a variety of unknown objects without damaging said object. However, only a few robots are able to demonstrate both aspects and even fewer robots are able to do both simultaneously. As thus, the goal of this thesis is to create a soft robot that is able to pick up and support an additional payload. This thesis will explore the challenges and difficulties that come with designing such a robot. For this thesis, we chose to simplify the manufacturing process making it easy to create and test different designs. We primarily used Pneumatic Network actuators for the majority of the soft robot. This allowed us to use a layered manufacturing approach to create the full robot. Finally, we split the robot into two main components which have their own purpose, which made it easy to test and design each component. Attached to this thesis are three different supplementary videos. The first one labeled "Walking Gaits" demonstrate how the robot is capable of moving forward. This video is comprised of several sections showing the full robot moving, just the base moving, and the full robot briefly moving as it supports a payload. The second video is labeled "Additional Walking". This video shows how the base can effectively move around a given environment. The final video if called "Grasping Method" which demonstrates the different grasping methods that the full robot uses to pick up objects.en_US
dc.language.isoen_US
dc.rightsAttribution 4.0 Internationalen_US
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectRoboticsen_US
dc.subjectBio-inspireden_US
dc.subjectGraspingen_US
dc.subjectLocomotionen_US
dc.subjectNavigationen_US
dc.subjectSoft roboten_US
dc.titleA soft robot capable of simultaneously grasping an object while navigating around an environmenten_US
dc.typeThesis/Dissertationen_US
dc.date.updated2019-06-04T01:05:59Z
dc.description.embargo2021-06-03T00:00:00Z
etd.degree.nameMaster of Scienceen_US
etd.degree.levelmastersen_US
etd.degree.disciplineMechanical Engineeringen_US
etd.degree.grantorBoston Universityen_US


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Attribution 4.0 International
Except where otherwise noted, this item's license is described as Attribution 4.0 International