Passively Actuated Caterpillar robot (PACBot), built by a team of Tufts University students, demonstrates a small inching gait. This robot uses Kevlar tendons, actuated by motors placed at various points within the foam body. PACBot moves by means of directional friction when the soft body is deformed by the action of the motor-driven tendons. Tendon contractions are controlled by a student wielding an X-Box controller. This video shows the device running in tethered mode, but it can also run untethered. PACBot is one of 3 Tufts entries in the 2016 RoboSoft Challenge in Livorno, Italy. Development of PACBot was supported by a National Science Foundation IGERT grant.
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