MONOLITh

Working with Anthony Scibelli and Cassandra Donatelli I helped to create MONOLITh, a bioinspired, untethered crawling soft robot. Its body is made of a lightweight reticulated foam, and it uses DC motors that pull on internal Kevlar tendons to move. With its caterpillar-based design and differential friction elements allowing it to grip surfaces, MONOLITh is able to move by inching, compression, or rolling. For my part in this project, I wrote the code that controlled the robot, and helped to design and test the final product. MONOLITh was presented at both RoboSoft 2019 and AMAM 2019.

This has now been published as a paper and can be found here: https://www.tandfonline.com/doi/full/10.1080/01691864.2022.2029764