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Related Experiment Video

Updated: Jul 15, 2025

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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A Fluid-Driven Loop-Type Modular Soft Robot with Integrated Locomotion and Manipulation Capability.

Xin Sui1, Mingzhu Lai2, Jian Qi1

  • 1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.

Biomimetics (Basel, Switzerland)
|September 27, 2023
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Summary
This summary is machine-generated.

Inspired by nature, this study presents a modular soft robot using pneumatic actuators for adaptable locomotion and manipulation. This biomimetic robot demonstrates integrated movement and task capabilities for versatile applications.

Keywords:
fluid element actuatormodular robotrhythm regulatesoft robotvision feedback

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Area of Science:

  • Robotics
  • Biomimetics
  • Materials Science

Background:

  • Animals like snakes and octopuses exhibit complex locomotion and manipulation using adaptable body structures.
  • Modular robotic systems offer potential for versatile and adaptable functionalities.

Purpose of the Study:

  • To develop a modular soft robot inspired by natural systems.
  • To integrate locomotion and manipulation capabilities within a soft robotic platform.

Main Methods:

  • Assembly of a soft modular robot using homogeneous cubic pneumatic soft actuator units made of silicone rubber.
  • Development of a mathematical model and a backpropagation neural network to describe actuator unit deformation.
  • Analysis of locomotion in a chain-type soft robot to establish a rhythmic control principle.
  • Implementation of a vision sensor for closed-loop control of locomotion and manipulation.

Main Results:

  • Successful demonstration of both locomotion and manipulation abilities in the modular soft robot.
  • Validation of the mathematical model and neural network for predicting soft actuator behavior.
  • Establishment of a general rhythmic control principle for modular soft robots.

Conclusions:

  • The presented modular soft robot effectively integrates locomotion and manipulation.
  • The biomimetic design and control strategy enable adaptable robotic performance.
  • This research contributes to the advancement of versatile soft robotic systems.