Science Robotics

Supplementary Materials

The PDF file includes:

  • Text
  • Fig. S1. Experimental setup for measuring battery life.
  • Fig. S2. Torque angle relationship for a beam between rollers.
  • Fig. S3. Model predictions of the normal force between rollers.
  • Fig. S4. Test apparatus to quantify cost of motion.
  • Fig. S5. Deformation of an individual triangle.
  • Fig. S6. Mechanical design of roller module.
  • Fig. S7. Diagram of points used to define the kinematics of each roller module.
  • Fig. S8. Details of the comparison with different truss robots.
  • Legends for movies S1 to S12
  • References (5459)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Motion of the roller module along an inflated tube.
  • Movie S2 (.mp4 format). Inflation and shape change of a 2D robot.
  • Movie S3 (.mp4 format). Operation of a single-tube 2D robot.
  • Movie S4 (.mp4 format). Shape change of octahedron robot.
  • Movie S5 (.mp4 format). Comparison of predicted and measured motion.
  • Movie S6 (.mp4 format). Octahedron robot locomotes with a punctuated rolling gait.
  • Movie S7 (.mp4 format). Compliance and interaction of the robot with people.
  • Movie S8 (.mp4 format). Octahedron robot moving a payload.
  • Movie S9 (.mp4 format). Simulated loading with payload.
  • Movie S10 (.mp4 format). Self-recovery from buckling.
  • Movie S11 (.mp4 format). Manipulation.
  • Movie S12 (.mp4 format). Reachable workspace for a single triangle.

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