# A Legged Soft Robot Platform for Dynamic Locomotion

arXiv: https://arxiv.org/abs/2011.06749 · HTML: https://mlsanity.com/paper/2011.06749/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Nov 2020.

## Built on by (most cited first, 1 of 1)

- [Optimal Gait Control for a Tendon-driven Soft Quadruped Robot by Model-based Reinforcement Learning](https://mlsanity.com/paper/2406.07069/) (2024)

## Abstract (arXiv)

We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and soft legs were 3D printed with gyroid infill using a flexible material, enabling it to conform to the environment and passively stabilize during locomotion on multi-terrain environments. In addition, we simulated the robot in a real-time soft body simulation. With tuned gaits in simulation, the real robot can locomote at a speed of 0.9 m/s (2.5 body length/second), substantially faster than most untethered legged soft robots published to date. We hope this platform, along with its verified simulator, can catalyze the development of soft robotics.