Because they are made of elastically deformable and compliant materials, soft robots can passively change shape and conform to their environment, providing potential advantages over traditional robotics approaches. However, existing manufacturing workflows are often labor intensive and limited in their ability to create highly integrated three-dimensional (3D) heterogeneous material systems. In this study, we address this with a streamlined workflow to produce field-deployable soft robots based on 3D printing with digital light processing (DLP) of silicone-like soft materials. DLP-based 3D printing is used to create soft actuators (2.2 g) capable of exerting up to 0.5 Newtons of force that are integrated into a bioinspired untethered soft robot. The robot walks underwater at speeds comparable with its biological analog, the brittle star. Using a model-free planning algorithm and feedback, the robot follows remote commands to move to desired positions. Moreover, we show that the robot is able to perform untethered locomotion outside of a laboratory and in a natural aquatic environment. Our results represent progress in soft robot manufacturing autonomy for a 3D printed untethered soft robot.

中文翻译：

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可野战无绳软体机器人的 3D 打印和快速原型制作方法

因为它们是由弹性可变形和柔顺的材料制成的，所以软体机器人可以被动地改变形状并适应它们的环境，与传统的机器人方法相比具有潜在的优势。然而，现有的制造工作流程通常是劳动密集型的，并且创建高度集成的三维 (3D) 异质材料系统的能力有限。在这项研究中，我们通过简化的工作流程来解决这个问题，以生产基于 3D 打印的可现场部署的软机器人，并采用硅类软材料的数字光处理 (DLP)。基于 DLP 的 3D 打印用于创建软执行器 (2.2 g)，能够施加高达 0.5 牛顿的力，并集成到仿生无绳软机器人中。该机器人在水下行走的速度与其生物类似物海蛇尾相媲美。使用无模型规划算法和反馈，机器人按照远程命令移动到所需位置。此外，我们展示了该机器人能够在实验室外和自然水生环境中进行不受束缚的运动。我们的结果代表了 3D 打印的无绳软体机器人在软体机器人制造自主性方面的进步。