VSoRos Hybrid Soft robot Lizard

This is a 3D printable lizard-inspired robot prototype based on our research paper: "Design and Fabrication Workflow for Vertebrate Soft Robots (VSoRos)." The model features an internal monolithic skeleton architecture, designed to mimic vertebrate motion through flexible yet structured internal joints. When paired with tendon or servo-driven actuation, it produces an undulatory gait suitable for soft robotic crawling or slithering experiments.

This open-source model is ideal for educators, makers, and researchers interested in:

• Hybrid soft-rigid locomotion

• Vertebrate-inspired robotic morphology

• Actuation using tendons or servo pulleys

• Multimaterial additive manufacturing workflows

This model showcases:

• Anatomically inspired segmented spine

• Embedded tendon channels for cable-driven actuation

• A single continuous 3D-printed body with modular attachment points for electronics or skin layers

What you need:

• The STL file (included here)

• A flexible filament like TPU (Shore 95A) or semi-rigid material like PETG (for testing skeletons)

• Standard desktop FDM printer

• Optional: Servo motors (SG90 or similar), tendons (fishing lines or nylon cords), and a micro-controller (Arduino Nano or ESP32)

Assembly Steps:

• Print the skeleton in flexible filament (TPU recommended).

• Thread tendon lines through the internal channels (visible as grooves or through-holes).

• Attach the ends of tendons to servo horns or sliders depending on your control setup.

• Mount servos on the base or tail segment, routing the tendons through the spine.

• Use a microcontroller to actuate servos and observe wave-like lizard motion.

Optional Enhancements:

• Cover the skeleton with a soft silicone skin for realism.

• Embed magnets in the feet or add silicone pads for surface grip.

🖨 Print Tips

• Material: TPU (Shore 95A)

• Layer Height: 0.2 mm

• Infill: 100%

• Supports: Not required if printed with tail-down orientation

• Print Orientation: Print horizontally with the head-body-tail section laying on the bed 

• Nozzle: 0.4 mm recommended; larger nozzles (0.6 mm) okay for faster prints

• Bed Adhesion: Use glue stick or textured PEI for TPU adhesion