Omnidirectional walking of a quadruped robot enabled by compressible tendon-driven soft actuators

Qinglei Ji,Shuo Fu,Lei Feng,George Andrikopoulos,Xi Vincent Wang,Lihui Wang,Qinglei Ji,Shuo Fu,Lei Feng,George Andrikopoulos,Xi Vincent Wang,Lihui Wang

Using soft actuators as legs, soft quadruped robots have shown great potential in traversing unstructured and complex terrains and environments. However, unlike rigid robots whose gaits can be generated using foot pattern design and kinematic model of the rigid legs, the gait generation of soft quadruped robots remains challenging due to the high DoFs of the soft actuators and the uncertain deform...