We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We demonstrate this with a tripod-shaped robot, TripodBot, consisting of three CCPJ-based legs attached to a central body. TripodBot is intrinsically soft and can be stored and transported in a compact configuration. On site, it can self-deploy and crawl in a slip-stick manner through the shape morphing of its legs; a simplified analytical model accurately captures the speed. The robot's adaptability is demonstrated by its ability to navigate tunnels as narrow as 61 percent of its deployed body width and ceilings as low as 31 percent of its freestanding height. Additionally, it can climb slopes up to 15 degrees, carry a load of 5 grams (2.4 times its weight), and bear a load 9429 times its weight.

翻译：我们开发了一类新型软体移动机器人，其能够自组装成预编程构型，并随后利用收缩绳颗粒阻塞（CCPJ）技术在高度集成、紧凑的机身中改变自身刚度。我们通过一个三足形机器人TripodBot展示了这一技术，该机器人由三个基于CCPJ的腿连接至中央主体构成。TripodBot本质上是软体的，可以以紧凑构型存储和运输。在现场，它能够通过其腿部形状变形以滑移-黏着方式自部署并爬行；一个简化的分析模型精确地捕捉了其速度。该机器人的适应性体现在其能够穿越窄至其部署后机身宽度61%的隧道，以及低至其自立高度31%的天花板。此外，它能够攀爬高达15度的斜坡，承载5克负载（为其自重的2.4倍），并承受高达其自重9429倍的负载。