Yale-led team develops shape-shifting turtle robot

Yale researchers have developed an amphibious robot, complete with shape-shifting limbs that can outperform both legs on land and flippers in water.To get more news about Robots on Demand, you can visit glprobotics.com official website.

From cleaning houses, to managing warehouses, to exploring extreme terrains, the expanding diversity of mobile robotic applications has increased the types of environments that robots must be equipped to face. In their paper published in the journal Nature, a team of Yale researchers developed a robotic turtle with morphing limbs that can travel effectively through disparate natural environments. This study was guided by principal investigator Rebecca Kramer-Bottiglio, the John J. Lee Associate Professor of mechanical engineering and materials science.

“Animals can’t adapt their physiology radically to change the way they move in their environment,” Robert Baines GRD ’23, one of the paper’s co-first authors, and a doctoral researcher in mechanical engineering and materials science, told the News. “What if we could have evolution on demand?”

Most animals and robots alike are specialized to specific environments — their locomotion is designed to be efficient in a particular niche, which comes at the expense of performance in others. For instance, swimming with giraffe legs would prove quite a challenge, while walking with dolphin flippers sounds equally improbable. To design a robot that can thrive in both worlds, the researchers studied the natural movement mechanisms of terrestrial and aquatic turtles in their respective elements, then integrated them through a design philosophy dubbed “adaptive morphogenesis.”

Morphogenesis alone refers to the emergence of form, or how an animal takes its shape. In natural organisms, this process and the resulting shapes are largely fixed, at least in the window of individual lifetimes. Baines explained that adaptive morphogenesis can be thought of as evolution on demand — changing form in a much shorter timeframe to adapt to the surrounding environment.

Considering the fixed anatomies of animals, using adaptive morphogenesis to change limb shapes and movement patterns would only be possible for an artificial robotic system.

“The main takeaway of the paper isn’t the specific robot embodiment, but rather the design philosophy,” Baines said.

From this design philosophy emerged the Yale researchers’ amphibious robotic turtle (ART), whose morphing limbs are capable of transforming between legs and flippers. Sree Patiballa — the paper’s other co-first author and a former Yale postdoctoral researcher — described the legs as semi-circular in shape with a blunt end, advantageous for bearing the robot turtle’s weight on land. In flipper mode, the limbs become longer and flatter, ideal for propulsion in water.

Designing and constructing ART’s shape-shifting limbs was no easy feat. While many parts like the shell and joints are 3D-printed, the limbs are fabricated with materials that can radically change stiffness by a factor of 450 times. This variable stiffness allows for a change in limb shape when needed, but remains otherwise rigid and holds the desired shape. Without the ability to change their stiffness, the limbs would either be too rigid to morph, or too flimsy for efficient propulsion in water and weight-bearing on land.

“The variable-stiffness material is thermally responsive and holds the [limb] shape, so we don’t have to keep on pumping the pressure,” Patiballa said. “Once it cools down, we deflate the pressure, and the limb still retains that shape. Once you reheat it, it softens and goes back to the flipper shape.”