TY - JOUR AU - Lee, Jun-Young AU - Kang, Brian Byunghyun AU - Lee, Dae-Young AU - Baek, Sang-Min AU - Kim, Woong-Bae AU - Choi, Woo-Young AU - Song, Jeong-Ryul AU - Joo, Hyeong-Joon AU - Park, Daegeun AU - Cho, Kyu-Jin PY - 2016 M3 - Original Research TI - Development of a Multi-functional Soft Robot (SNUMAX) and Performance in RoboSoft Grand Challenge JO - Frontiers in Robotics and AI UR - https://www.frontiersin.org/articles/10.3389/frobt.2016.00063 VL - 3 SN - 2296-9144 N2 - This paper introduces SNUMAX, the grand winner of the RoboSoft Grand Challenge. SNUMAX was built to complete all the tasks of the challenge. Completing these tasks required robotic compliant components that could adapt to variable situations and environments and generate enough stiffness to maintain performance. SNUMAX has three key components: transformable origami wheels, a polymer-based variable stiffness manipulator, and an adaptive caging gripper. This paper describes the design of these components, and how they worked together to allow the robot to perform the contest’s navigation and manipulation tasks. ER -