Plenty of robots are inspired by nature, even fleas and mantis shrimp. Take HeTRM for instance: it is a hyperelastic torque-reversal mechanism for powerful and rapid motions using soft rubber-like materials. As you can see in the below video, the soft gripper is capable of grabbing ping pong balls. This approach can be used to build robots that move on rough terrains.
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HeTRM: A Hyperelastic Torque Reversal Mechanism for Soft Joints with Transient Bistability
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