hydra: A Slinky-Inspired Tendon-Driven Continuum Robot

Graduate Capstone

Aug 2025 - Dec 2025

This exploratory project introduces hydra, a slinky-inspired tendon-driven continuum robot designed to study a new form of mobile, compliant locomotion. Its lightweight modular units bend through coordinated antagonistic tendon actuation to produce slinky-like motion while maintaining high torque-to-weight ratio. All motors, electronics, and batteries are integrated into the feet, enabling fully untethered wireless control. While tendon-driven continuum robots are common in manipulation research, their use for locomotion is largely unexplored. Hydra demonstrates a novel approach to tendon-actuated movement and provides a versatile hardware platform for investigating distributed actuation, bio-inspired mobility, and locomotion in confined or unstructured environments. Visit my dedicated project website here for more details.

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Goals

  • Explore tendon-driven actuation as a novel approach for generating untethered locomotion in continuum robots.
  • Adapt and design a lightweight, modular robot architecture that enables reconfiguration and scalable length.
  • Investigate how pre-programmable compliance and curvature can produce slinky-like, wave-based motion.
  • Establish a robust hardware platform for future research in bio-inspired and soft robotics.

Features

  • Slinky-inspired continuum robot architecture leveraging tendon-driven actuation for untethered, wave-based locomotion.
  • Modular mechanical design adapted in SolidWorks, enabling reconfigurable length, pre-programmable compliance, and rapid iteration.
  • Physics-based simulation in MuJoCo using URDF models to evaluate actuation behavior and contact dynamics.
  • Onboard control system built around a Raspberry Pi, with teleoperation and wireless communication logic implemented in CircuitPython
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[digital project][digital project]

Specific Contributions

  • Led a 4-person team as project lead, coordinating task delegation, timelines, and regular client and instructor meetings.
  • Owned the mechanical design of the robot in SolidWorks, including adapting modular architecture, tendon/wire routing, and electronics layout.
  • Selected and integrated embedded hardware components, including motors, batteries, and a Raspberry Pi for onboard control.