flexible PET sheet. (Image by H. P. Thanabalan.)
The defense will take place in PJ Salen lecture hall, Institutionen för fysik, Johanneberg Campus, Göteborg, at 13:00.
Title: Soft Robotic Platforms for Dynamic Conditions: From Adaptive Locomotion to Space Exploration
Abstract:
Inspired by living organisms, soft robots represent a significant advancement in robotics, offering exceptional flexibility and nearly infinite degrees of freedom. These properties make them ideal for unstructured and remote environments such as planetary surfaces. However, challenges remain in developing efficient and durable soft actuators capable of withstanding complex operational conditions. This work presents two interconnected parts.
In the first part, an inchworm-inspired soft robot was developed that is capable of controlled directionality through a passive alignment mechanism integrated with a 3D-printed grooved substrate. This design enables precise locomotion control using only a single rolled dielectric elastomer actuator (RDEA), eliminating the need for multiple actuators or complex control systems. Experimental validation confirms that manipulating groove angles on the substrate reliably guides locomotion, improving energy efficiency and mechanical simplicity.
In the second part, the fabrication and resilience of fault-tolerant RDEAs were tested. RDEAs utilising Single-Walled Carbon Nanotubes (SWCNTs) as compliant electrodes were developed to withstand multiple damages where they were tested for punctures and cuts. Additionally, the radiation tolerance of these actuators was evaluated under space-like conditions, including Galactic Cosmic Rays and Solar Particle Events, which expose materials to high-energy protons and alpha particles. A computational dual-simulation framework was applied, combining the Stopping and Range of Ions in Matter (SRIM) software for alpha particle interactions and ESA’s SPENVIS Multi-Layered Shielding Simulation Software (MULASSIS) for proton radiation effects.
This framework concerns material selection for robust RDEA fabrication aimed at extraterrestrial applications. Together, these projects advance the development of bioinspired soft robots with improved directional control and environmental resilience, supporting future applications in search and rescue, pipe inspection, and planetary exploration.
Thesis: https://hdl.handle.net/2077/90552
Supervisor: Giovanni Volpe
Examiner: Bernhard Mehlig
Opponent: Maria Guix Noguera
Committee: Juliane Simmchen, Hamid Kellay, Paolo Vinai
Alternate board member: Måns Henningson