  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.

Robotics