Voxel Robot: A Pneumatic Robot with Deformable Morphology

  • Mark Roper
  • Nikolaos Katsaros
  • Chrisantha Fernando
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8575)


The Voxbot is a cubic (voxel) shaped robot actuated by expansion and contraction of its 12 edges designed for running evolutionary experiments, built as cheaply as possible. Each edge was made of a single 10ml medical syringe for pneumatic control. These were connected to an array of 12 servos situated on an external housing and controlled with an Arduino microcontroller from a laptop. With twenty motor primitive commands and the slow response of its pneumatics this robot allows real time controllers to be evolved in situ rather than just in simulation. With simple combinations and sequencing of motor primitives the Voxbot can be made to walk, rotate and crab crawl. The device is available in kit form and is very easy to build and replicate. Other morphologies can be built easily.


Arduino Soft Bodied Robotics Evolutionary Robotics Robustness 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Mark Roper
    • 1
  • Nikolaos Katsaros
    • 1
  • Chrisantha Fernando
    • 1
  1. 1.SBCS, EECSQueen Mary University of LondonUK

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