Design and Motion Analysis of a Soft Modular Robot for Diverse Environments

Area of Science:

• Robotics
• Materials Science
• Control Systems

Background:

• Soft robots offer adaptability but face challenges in modeling nonlinear behavior and infinite degrees of freedom.
• Modular designs enhance versatility but require sophisticated control for multimodal locomotion.

Purpose of the Study:

• To design and develop a modular soft robot capable of multiple movement modes.
• To propose a 3D spatial mathematical model for soft robot motion.
• To develop a central pattern generator-based controller for diverse gaits.

Main Methods:

• A modular soft robot with a four-chamber core unit was designed.
• A 3D spatial mathematical model using classical plate theory and a chained composite model was developed.
• A single-controller framework based on a central pattern generator was implemented.

Main Results:

• The robot demonstrated multimodal locomotion through selective pneumatic pressure and connector configuration.
• The mathematical model accurately described the soft robot's spatial bending motion.
• The controller successfully generated various movement patterns by tuning parameters.

Conclusions:

• The developed modular soft robot exhibits adaptable, multimodal locomotion.
• The proposed modeling and control strategies effectively address the complexities of soft robot design.
• The pneumatic control platform validated the robot's capabilities in complex terrains.