Geometric Gait Design for a Starfish‐Inspired Robot Using a Planar Discrete Elastic Rod Model

Abstract

Fluidic Soft Actuators In article 1900186, William L. Scott and Derek A. Paley present a starfish-inspired robotic platform that consists of soft fluidic bending actuator arms arranged with radial symmetry about a rigid hub. Locomotion gaits (periodic shape changes) resulting in translation in the plane are designed using a discrete elastic rod model and demonstrated on a pneumatic hardware prototype.