SoftSnap is a modular, untethered soft robotics system designed for rapid prototyping and exploration of bio-inspired locomotion and manipulation tasks. It enables researchers, educators, and hobbyists to quickly assemble snap-together robotic modules with integrated cable-driven actuation, onboard control, and wireless communication.
Watch the SoftSnap in action:
This repository provides open-source resources, including:
✅ CAD models for SoftSnap skeletons, connectors, and casing.
✅ PCB designs for the integrated control system.
✅ Firmware code for the integrated control system.
✅ Jupyter Notebook-based code for forward and inverse simulation.
✅ Assembly guidelines to build and modify SoftSnap robots (see the video).
- 🛠 Modular Design: Easily snap together different modules to create robots like starfish-inspired, brittle-star locomotion, snake-like, grippers, and ring-based caging systems.
- 🎛 Cable-Driven Actuation: Uses a motorized winch system to control flexible TPU-based skeleton deformation.
- 📡 Wireless Control: Supports remote control via Wi-Fi-based communication.
- 🔄 Open-Source & Customizable: Modify, 3D print, and expand the system to fit specific applications.
- 🔬 Simulation & Modeling: Includes Jupyter Notebook tools for predicting deformation behavior and optimizing threading patterns.
📦 SoftSnap
├── hardware/ # CAD models & PCB design
│ ├── pcb/ # PCB design files
│ │ ├── pcb_render.png # PCB design image
│ │ ├── README.md # PCB design documentation
│ ├── cad/ # 3D models and shell for 3-in-1 Motor Module
│ │ ├── softsnap_module.png # Full SoftSnap module image
│ │ ├── README.md # 3D model printing & assembly guide
├── software/ # Jupyter Notebook-based simulation & control code
│ ├── Firmware.ino # Firmware program source code
│ ├── forward_simulation.ipynb # Forward kinematics simulation
│ ├── inverse_simulation.ipynb # Inverse kinematics simulation
│ ├── README.md # Simulation documentation
├── LICENSE # License file
├── README.md # Main repository documentation
To build a SoftSnap module, you will need:
- 3D-printed components (TPU skeleton, PLA connectors, resin casing)
- Motor module (GA12-N20 motor, PCB, Li-ion battery)
- 8-braid No. 2 PE fishing line (0.23mm, 12.7 kg tensile strength)
- Microcontroller & Wi-Fi module (for remote operation)
Refer to the assembly guide in the docs/ folder for detailed instructions.
The simulation, forward and inverse modeling, and control scripts are provided as Jupyter Notebooks for ease of use.
- Clone this repository:
git clone https://github.com/luyangzhao/SoftSnap.git cd SoftSnap - Open the Jupyter Notebook:
jupyter notebook
- Navigate to the software/ directory and run the desired notebook.
The 200 mAh battery provides a theoretical energy capacity of 0.2A × 3.7V = 0.74 Wh. Under a nominal load, the motor consumes approximately 160 mA × 12V × 1s = 0.533 mWh per cycle, yielding a theoretical estimate of 1,388 cycles per full charge. However, real-world performance varies due to energy losses, standby consumption, and load fluctuations.
📄 Paper Reference: SoftSnap: Rapid Prototyping of Untethered Soft Robots
📜 CAD & PCB Files: /hardware/
💻 Jupyter Notebook Code: /software/
🛠 Assembly Guide & Tutorials: /docs/
🔗 GitHub Repository: https://github.com/luyangzhao/SoftSnap
If you use SoftSnap in your research, please cite our work:
Zhao, L., Jiang, Y., She, C., Chen, M., Balkcom, D., 2024. SoftSnap: Rapid Prototyping of Untethered Soft Robots Using Snap-Together Modules. Soft Robotics. DOI: arXiv:2410.19169
@article{zhao2024softsnap,
title={SoftSnap: Rapid prototyping of untethered soft robots using snap-together modules},
author={Zhao, Luyang and Jiang, Yitao and She, Chun-Yi and Chen, Muhao and Balkcom, Devin},
journal={arXiv preprint arXiv:2410.19169},
year={2024}
}
We are open and willing to answer any question. Please state your problem clearly and use the following emails to contact: Luyang Zhao: luyang.zhao.gr@dartmouth.edu, Yitao Jiang: yitao.jiang.gr@dartmouth.edu. Thank you!
📜 This project is licensed under the MIT License.