Science Robotics

Supplementary Materials

The PDF file includes:

  • Supplementary Text
  • Fig. S1. Consistency of the soft ring oscillator.
  • Fig. S2. Motion of the foot of the robot when the pressure in the pneumatic controller is perturbed.
  • Fig. S3. Comparison of the speed of the robot while carrying the small (left) and large (right) CO2 canisters and regulators.
  • Table S1. List of .stl files.

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Other Supplementary Material for this manuscript includes the following:

  • Data S1. Archive of .stl files (.zip format).
  • Movie S1 (.mp4 format). Video of the African sideneck turtle exhibiting a diagonal couplet walking gait.
  • Movie S2 (.mp4 format). Video of omnidirectional locomotion, controlled by the four states of two DPDT soft pneumatic switches.
  • Movie S3 (.mp4 format). Video of robot walking untethered, powered by a pressurized CO2 canister fitted with a pressure regulator.
  • Movie S4 (.mp4 format). Demonstration of the robot navigating around an obstacle, with manual switching from a single leg pair diagonal gait to a diagonal couplet walking gait, controlled by a dual-purpose three-valve ring oscillator, accelerated 4×.
  • Movie S5 (.mp4 format). Video of the electronics-free robot autonomously avoiding an obstacle.

Files in this Data Supplement: