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

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Multimodal Limbless Crawling Soft Robot with a Kirigami Skin.

Jonathan Tirado¹, Aida Parvaresh¹, Burcu Seyidoğlu¹

¹SDU Soft Robotics, Biorobotics Section, The Maersk McKinney Moller Institute, University of Southern Denmark, Odense 5230, Denmark.

Cyborg and Bionic Systems (Washington, D.C.)

|June 10, 2025

Summary

This study presents a bioinspired soft robot that navigates complex terrains using unique crawling and steering gaits. The robot

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Area of Science:

Robotics
Bioinspired Engineering
Soft Materials

Background:

Limbless organisms utilize body deformation and substrate interaction for locomotion.
This natural mechanism provides a blueprint for developing novel robotic systems.
Existing robots often struggle with complex, unstructured environments.

Purpose of the Study:

To design and demonstrate a soft robot capable of navigating challenging terrains.
To investigate the locomotion principles inspired by limbless biological creatures.
To enable adaptive control for obstacle avoidance in unstructured environments.

Main Methods:

Developed a soft robot with antagonistic inflatable actuators and a kirigami skin.
Implemented rectilinear motion via phased inflation and steering through asymmetric gaits.
Integrated proximity sensors and a human-machine interface for real-time adaptive control.

Main Results:

The soft robot successfully demonstrated rectilinear locomotion and effective steering (in-place rotation and wide turns).
The robot navigated an obstacle-rich environment with coarse substrates.
Adaptive control successfully prevented collisions during navigation.

Conclusions:

Bioinspired soft robots offer a promising solution for locomotion in confined and unstructured environments.
The developed robot's design and control strategies are suitable for applications like search-and-rescue and environmental monitoring.
This research advances the field of soft robotics and bio-mimicry.