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<p>In recent years, soft robots composed of flexible materials like silicone rubber have attracted significant attention due to their ability to adapt to unknown environments. These robots are typically inspired by the morphology and behavior of living organisms. In nature, biological species employ various locomotion gaits, with the wave-like motion observed in caterpillars, being one of the most stable examples. This locomotion strategy offers a simple and effective method of movement with minimal control, enabling adaptation to various terrains, making it a promising approach for soft robots. This study focuses on demonstrating the effectiveness of using wave-like motion as a locomotion mechanism in soft robots. This paper presents the development of a prototype four-legged soft robot that utilizes wave-like locomotion for bidirectional movement and clockwise and counterclockwise turning. Experiments confirmed the proposed robot's ability to move at approximately 1&#xa0;cm/s on flat surfaces, overcome steps and traverse stone-composed terrains.</p>

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Development of a cable-driven four-legged soft robot with wave-like locomotion

  • 期刊论文

  • 发表日期：

    2025年11月7日

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  • Tomoya Inagaki,
  • Klara Bezha,
  • Kazuyuki Ito

摘要

In recent years, soft robots composed of flexible materials like silicone rubber have attracted significant attention due to their ability to adapt to unknown environments. These robots are typically inspired by the morphology and behavior of living organisms. In nature, biological species employ various locomotion gaits, with the wave-like motion observed in caterpillars, being one of the most stable examples. This locomotion strategy offers a simple and effective method of movement with minimal control, enabling adaptation to various terrains, making it a promising approach for soft robots. This study focuses on demonstrating the effectiveness of using wave-like motion as a locomotion mechanism in soft robots. This paper presents the development of a prototype four-legged soft robot that utilizes wave-like locomotion for bidirectional movement and clockwise and counterclockwise turning. Experiments confirmed the proposed robot's ability to move at approximately 1 cm/s on flat surfaces, overcome steps and traverse stone-composed terrains.