There is significant interest in creating compliant modular robots that can change their volume. Inspired by how biological cells move, these systems can potentially combine the resilience of modular robotics with the increased environmental interactions of soft robotics. However, current versions have limited speed, expansion, and portability. In this paper, we address these concerns through AuxSwarm, a compliant system composed of auxetic-based robotic voxels. These voxels control their volume through a scissor-like bi-layer auxetic design, growing up to 1.57 times their original size in 0.2 seconds. This combination of speed and expansion is unique across modular soft robots, enabling dynamic locomotion capabilities. We characterize the voxels and demonstrate the versatility of this approach through case studies of 2D bending and 3D cube flipping. AuxSwarm provides a first step towards addressable voxel-based smart materials, while simultaneously addressing the robustness and actuation challenges faced by soft robots.

The natural flexibility of soft robotic grippers allows for versatile and compliant grasping. However, this same flexibility can restrict the gripper’s strength. Striking a balance between compliance and strength is essential for effective soft grippers. In this work, we present Flexible Robust Observant Gripper (FROG), a soft gripper that is both compliant and strong. We describe the mechanical design of the gripper, characterize the soft flexures used in the design, and analyze the grasp forces generated by the gripper. Utilizing the structure of the gripper, we develop feedforward grasp controllers and a classifier to distinguish between grasp types. Grasping experiments show that FROG can effectively grasp a variety of objects, including very soft or delicate items. Holding force tests show that our gripper can conform to the grasped object and exert large grasp forces.