We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and soft legs were 3D printed with gyroid infill using a flexible material, enabling it to conform to the environment and passively stabilize during locomotion on multi-terrain environments. In addition, we simulated the robot in a real-time soft body simulation. With tuned gaits in simulation, the real robot can locomote at a speed of 0.9 m/s (2.5 body length/second), substantially faster than most untethered legged soft robots published to date. We hope this platform, along with its verified simulator, can catalyze the development of soft robotics.

翻译：我们提出了一个开放源码的、不交错的四重软机器人平台,用于动态移动(例如高速运行和反向滑动)。机器人大部分是软软的(80卷%),由四个变换的Servo发动机驱动。机器人的软体和软腿是3D打印的,用柔软的机器人填充材料使用灵活材料,使其能够符合环境,并在多地形环境中的移动过程中被动地稳定。此外,我们还模拟了实时软体模拟机器人。在模拟中,真正的机器人可以以0.9 m/s(2.5身长/秒)的速度滑动,大大快于迄今为止公布的大多数非交错的软脚机器人。我们希望这个平台及其经核实的模拟器能够加速软体机器人的开发。