Monopropellant Powered Soft Robot

Collaborators: S. D. Gollob, A. Comoretto, Q. Yu, K. O. Adebajo, J. T. B. Overvelde, Kaitlyn Becker, Ellen Roche

Single Leg Setup
Single Leg Robot Setup
Chamber CAD
Hydrogen Peroxide Reaction Chamber CAD
Tubot
Tubot Prototype
Preview: Monopropellant Engine Paper (PDF)
View Published Paper on IEEE Xplore

Key Contributions

  • Characterized and developed a wireless control system for a propellant-powered oscillatory robot
  • Designed and tested a hydrogen peroxide reaction chamber to prove the energetic benefits of relative pressure systems in feeding this fuel for robotic actuation

Related Publications & Abstracts

Peer-Reviewed Publications

  • S. D. Gollob, A. Comoretto, Q. Yu, M. Fernandez, K. O. Adebajo, J. T. B. Overvelde, K. Becker, E. Roche. An Actuator-Scale, Pressure-Amplifying, Monopropellant Engine for Untethered Pneumatic Systems (accepted RoboSoft 2025).

Presentations

  • Monopropellant Powered Self-Oscillating Limbs for Untethered Locomotion. MIT Digital Poster Showcase, November 2024.
  • A Controllable Propellant-Based Power Source for Untethered Soft Robots. MIT Summer Research Program Poster Showcase, July 2024.