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Updated: May 27, 2026

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
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Multigait soft robot.

Robert F Shepherd1, Filip Ilievski, Wonjae Choi

  • 1Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA.

Proceedings of the National Academy of Sciences of the United States of America
|November 30, 2011
PubMed
Summary
This summary is machine-generated.

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This study introduces a novel soft robot, inspired by invertebrates, capable of complex locomotion using simple pneumatic actuation. This bio-inspired robot demonstrates sophisticated movement and obstacle navigation, highlighting the potential of soft robotics.

Area of Science:

  • Robotics
  • Biomimetics
  • Materials Science

Background:

  • Traditional robots often rely on rigid skeletons and complex control systems.
  • Invertebrate animals exhibit remarkable locomotion despite lacking rigid internal structures.
  • Soft robotics offers a paradigm shift towards compliant and adaptable robotic systems.

Purpose of the Study:

  • To design and fabricate a novel soft robot inspired by invertebrate locomotion.
  • To demonstrate sophisticated movement capabilities using simple actuation methods.
  • To explore the advantages of soft robotic systems in complex environments.

Main Methods:

  • Fabrication of a quadrupedal soft robot using soft lithography.
  • Pneumatic actuation with a simple valving system operating at low pressures (< 10 psi).

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Published on: November 14, 2015

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Last Updated: May 27, 2026

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07:40

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Published on: June 10, 2020

Bioinspired Soft Robot with Incorporated Microelectrodes
08:24

Bioinspired Soft Robot with Incorporated Microelectrodes

Published on: February 28, 2020

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Published on: November 14, 2015

  • Utilized five actuators and no sensors for locomotion control.

    • Main Results:

    • The soft robot exhibited fluid limb movement and multiple gaits, including crawling and undulation.
    • Successfully navigated a challenging obstacle course.
    • Demonstrated complex motion generation from simple actuation inputs.

    Conclusions:

    • Soft robots composed entirely of elastomeric polymers can achieve sophisticated locomotion.
    • Bio-inspiration from invertebrates provides a viable design strategy for soft robots.
    • Simple actuation systems in soft robots can lead to complex and adaptive behaviors.