Multigait Limbless Soft Robotic Locomotion

Nature provides a wealth of inspiration for the design of robots with embodied intelligence. This study draws from the principles of earthworm locomotion, which utilizes rhythmic muscle contractions in conjunction with anisotropic skin friction to move effectively across featureless terrains. By emulating these natural characteristics with synthetic, soft components, we developed a multimodal, limbless soft robotic system.

Our research focused on critical aspects of locomotion, including body deformation mechanics, pneumatic actuation dynamics, skin feature distribution, and anisotropic friction. Additionally, we touched upon proprioceptive systems that detect actuator deformations, enhancing control reliability and responsiveness. These elements collectively contribute to the robot’s capability to navigate complex environments autonomously and effectively.

Building upon our research findings, we created prototypes capable of traversing confined pipelines, maneuvering through constrained spaces, and exploring diverse terrains. The culmination of this work is a versatile robotic platform that incorporates a central pattern generator and proximity sensors, enabling assisted teleoperation. This platform bridges the gap between soft robotics research and practical, real­world applications, demonstrating significant potential in fields such as pipeline inspection, search and rescue, and environmental exploration.