SDU Biorobotics

Highlights • A soft robot imitates the non-wavy movement snakes use to move in a straight line • The robot’s body and actuation system are made of lightweight outdoor fabric • A breathable textile air pouch is designed using origami for pneumatic actuation • The robot can crawl on surfaces such as concrete, asphalt, and a synthetic track The bigger picture Snakes have long captured the interest of robotics researchers because of their versatile and efficient locomotion, adaptive body...

Highlights • A soft robot imitates the non-wavy movement snakes use to move in a straight line • The robot’s body and actuation system are made of lightweight outdoor fabric • A breathable textile air pouch is designed using origami for pneumatic actuation • The robot can crawl on surfaces such as concrete, asphalt, and a synthetic track The bigger picture Snakes have long captured the interest of robotics researchers because of their versatile and efficient locomotion, adaptive body...

1. Introduction Legged locomotion control has been studied over decades. Previously studies mostly included biped (He et al., 2019; Akkawutvanich et al., 2020; Yao et al., 2022), quadruped (Chen et al., 2019; Fukui et al., 2019; Zhang et al., 2021), hexapod (Bai et al., 2019; Wang et al., 2020; Ouyang et al., 2021; Ma et al., 2022), and octopod (Grzelczyk et al., 2019; Miguel-Blanco and Manoonpong, 2020) robots.