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Related Experiment Video

Updated: Jul 29, 2025

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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Published on: November 14, 2015

A soft crawling robot with a modular design based on electrohydraulic actuator.

Sohyun Kim¹, Youngsu Cha¹

¹School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea.

|May 22, 2023

Summary

This study presents a caterpillar-inspired soft crawling robot. Its modular, electrohydraulic design mimics peristaltic motion for adaptable movement in complex environments.

Keywords:

Mechanical property Mechatronics Robotics

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Area of Science:

Robotics
Biomimetics
Soft Matter Physics

Background:

Soft-bodied organisms exhibit remarkable adaptability to diverse environments due to their deformable structures.
Robots with soft structures offer potential advantages in navigating complex and unstructured terrains.

Purpose of the Study:

To introduce a novel caterpillar-inspired soft crawling robot with a fully soft body.
To develop a modular robotic design capable of mimicking biological peristaltic locomotion.

Main Methods:

The robot utilizes soft modules based on electrohydraulic actuators, a body frame, and contact pads.
A modular design enables deformations that replicate caterpillar peristaltic crawling behavior.
Sequential variation of friction between contact pads and the ground simulates anchor movement.

Main Results:

The soft crawling robot successfully demonstrated forward locomotion through a repeating operation pattern.
The robot exhibited the ability to traverse challenging terrains, including slopes and narrow crevices.
The modular design effectively produced deformations mimicking peristaltic crawling.

Conclusions:

The caterpillar-inspired soft robot offers a promising approach for locomotion in complex environments.
The electrohydraulic actuation and modular design are key to achieving adaptable, biomimetic movement.
This soft robotic system demonstrates potential for applications requiring navigation in unstructured or confined spaces.