A Soft Robot Mimicking snail’s foot

Abstract

In this paper, we describe a soft robot that imitates a snail. The robot aims to imitate the snail's peristaltic movement and is composed of a flexible material such as rubber and is driven by air pressure. Peristaltic motion was reproduced by contracting and expanding the chamber in the robot in order from the back, and a movement test on a plane was carried out with this robot.