Design and control of an inchworm-inspired soft robot with omega-arching locomotion

摘要

This paper presents an inchworm inspired soft robot composed of the soft body, the front foot as well as the back foot. Compared to the traditional inchworm-type robot consisting of rigid components, the driven mode for the soft robot is more simple. The soft robot inspired by the inchworm has higher locomotion efficiency than the other bionic soft robot. The main idea of this paper is to imitate the “Ω” motion shape of biology inchworm based on a silicone square tube with strain-limiting layers. Besides, each foot of the robot made through 3D printing technology together with metal sheet can produce different friction coefficients to achieve the anchor-motion movement. Then, the robot realizes an inchworm-like locomotion under certain actuation patterns. Experimental results show that the proposed robot has excellent performance.