AUTHOR=Lee Jun-Young , Kang Brian Byunghyun , Lee Dae-Young , Baek Sang-Min , Kim Woong-Bae , Choi Woo-Young , Song Jeong-Ryul , Joo Hyeong-Joon , Park Daegeun , Cho Kyu-Jin 

TITLE=Development of a Multi-functional Soft Robot (SNUMAX) and Performance in RoboSoft Grand Challenge

JOURNAL=Frontiers in Robotics and AI

VOLUME=3

YEAR=2016

URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2016.00063

DOI=10.3389/frobt.2016.00063

ISSN=2296-9144

ABSTRACT=<p>This paper introduces SNUMAX, the grand winner of the RoboSoft Grand Challenge. SNUMAX was built to complete all the tasks of the challenge. Completing these tasks required robotic compliant components that could adapt to variable situations and environments and generate enough stiffness to maintain performance. SNUMAX has three key components: transformable origami wheels, a polymer-based variable stiffness manipulator, and an adaptive caging gripper. This paper describes the design of these components, and how they worked together to allow the robot to perform the contest’s navigation and manipulation tasks.</p>