Soft Robot Locomotion

SiliBots are voxel-based soft robots equipped with collapsible and expandable air chambers, actuated via a syringe pump system. Integrated with the Qualisys motion capture system, this setup enables the collection of high-fidelity movement data in real-time, allowing for precise analysis of their locomotion capabilities. This study explores the boundaries and dynamics of SiliBots' movements by implementing optimization algorithms such as CMA-ES and CMA-ME to streamline gait discovery. By leveraging these techniques, we aim to uncover novel and adaptive behaviors while expanding the design space of voxel-scale soft robotics. This work contributes to the broader field of soft robotics by providing a more systematic and efficient approach to developing effective locomotion strategies, accelerating advancements in the domain