Science Robotics

Supplementary Materials

Supplementary Material for:

A soft robot that navigates its environment through growth

Elliot W. Hawkes,* Laura H. Blumenschein, Joseph D. Greer, Allison M. Okamura

*Corresponding author. Email: ewhawkes{at}

Published 19 July 2017, Sci. Robot. 2, eaan3028 (2017)
DOI: 10.1126/scirobotics.aan3028

This PDF file includes:

  • Text
  • Fig. S1. Experimental arrangement for collection of data shown in Figs. 2 and 4 and fig. S2.
  • Fig. S2. Additional experimental results from tests to determine full model for soft robot lengthening.
  • Fig. S3. Modeling of a helical antenna formed with a soft robot.
  • Fig. S4. Extension of a soft robot body with preset pattern of branching.
  • Fig. S5. Viscoplastic relationships for natural extending systems.
  • Legends for movies S1 to S4
  • References (40, 41)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Lengthening.
  • Movie S2 (.mp4 format). Steering.
  • Movie S3 (.mp4 format). Constrained environments.
  • Movie S4 (.mp4 format). Forming structures from the body.

Files in this Data Supplement: