BYOE: McKibben Creature - A Low-Cost Robotic Simulation of A Biological Environment

Developed by undergraduate mechanical engineering students, this BYOE paper presents a simple to construct, low-cost robot entirely actuated through the use of McKibben muscles. McKibben muscles are a type of pneumatic actuator commonly used in soft robot designs. As soft robotic designs and applications continue to grow in industry settings, this activity seeks to introduce students to soft robotics concepts early in their academic careers. With the primary construction materials being from readily available components and craft supplies, the project can easily be implemented in both college and high school learning environments with limited resources. The completed robot design involves three main functional challenges; maneuverability, ability to pick up small objects, and storage of the objects. Students' robots will then compete in a simulated biological environment, with small objects that can be placed at differing heights to vary the task difficulty and represent food sources at multiple elevations. Each team of students would be tasked to strategically design their robot to optimize performance in a competition for points. To optimize their robots, teams would have to make changes to their designs to specialize in different 'environmental niches' in order to outcompete others. As desired, the instructor can introduce several other gameplay mechanics that would increase the complexity of the students' design task and emulate other elements of the food web. This project can incorporate several key learning objectives, including implementing parametric design phases, enhancing an entrepreneurial mindset, optimizing product design, and applying knowledge of balancing forces to create motion. In this paper, the curricular context and classroom activity are thoroughly explained, as well as logistical aspects of implementation such as requirements, game ruleset, and set up environment. Additionally, the students who designed this project also developed a prototype McKibben Creature that adhered to the project scope. General manufacturing and design methodologies for that robot are provided.