# Printable Hydraulics: A Method for Fabricating Robots by 3D Co-Printing Solids and Liquids

arXiv: https://arxiv.org/abs/1512.03744 · HTML: https://mlsanity.com/paper/1512.03744/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Dec 2015.

## Built on by (most cited first, 2 of 2)

- [NeuralFluid: Neural Fluidic System Design and Control with Differentiable Simulation](https://mlsanity.com/paper/2405.14903/) (2024)
- [Progressive Text-to-3D Generation for Automatic 3D Prototyping](https://mlsanity.com/paper/2309.14600/) (2023)

## Abstract (arXiv)

This work introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing capability enables complex hydraulically actuated robots and robotic components to be automatically built, with no assembly required. The technique is showcased by printing linear bellows actuators, gear pumps, soft grippers and a hexapod robot, using a commercially-available 3D printer. We detail the steps required to modify the printer and describe the design constraints imposed by this new fabrication approach.