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<p>Modular robots offer adaptability and reconfigurability, yet their application in aquatic environments and dynamic multi-tasking—particularly for manipulation—remains underexplored. We hypothesize that incorporating soft-bending capabilities into modular designs can significantly enhance versatility in such settings. In this work, we introduce a variable-stiffness soft modular robot that integrates rigid 3D-printed components, soft foam, a cable-driven actuation mechanism, and a propeller for aquatic propulsion. Permanent magnets enable fast, passive inter-module connections. This robot can bend, steer, and connect with others, supporting a variety of functions. It acts as a gripper to retrieve debris from water surfaces, assembles into a floating raft for drone landings, and forms a snake-like chain that transitions seamlessly between land and water. Additionally, multiple robots can collaborate in swarm-like behaviors to transport payloads. Our findings demonstrate that combining soft deformation with modularity enables a multifunctional robotic platform capable of navigating and interacting in complex, aquatic environments.</p>

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SoftRafts: floating and adaptive soft modular robots

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年1月9日

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  • Luyang Zhao,
  • Yitao Jiang,
  • Chun-Yi She,
  • Alberto Quattrini Li,
  • Muhao Chen,
  • Devin Balkcom

摘要

Modular robots offer adaptability and reconfigurability, yet their application in aquatic environments and dynamic multi-tasking—particularly for manipulation—remains underexplored. We hypothesize that incorporating soft-bending capabilities into modular designs can significantly enhance versatility in such settings. In this work, we introduce a variable-stiffness soft modular robot that integrates rigid 3D-printed components, soft foam, a cable-driven actuation mechanism, and a propeller for aquatic propulsion. Permanent magnets enable fast, passive inter-module connections. This robot can bend, steer, and connect with others, supporting a variety of functions. It acts as a gripper to retrieve debris from water surfaces, assembles into a floating raft for drone landings, and forms a snake-like chain that transitions seamlessly between land and water. Additionally, multiple robots can collaborate in swarm-like behaviors to transport payloads. Our findings demonstrate that combining soft deformation with modularity enables a multifunctional robotic platform capable of navigating and interacting in complex, aquatic environments.