SoRX: A Soft Pneumatic Hexapedal Robot to Traverse Rough, Steep, and Unstable Terrain
Zhichao Liu,Zhouyu Lu,Konstantinos Karydis,Zhichao Liu,Zhouyu Lu,Konstantinos Karydis
Soft robotics technology creates new ways for legged robots to interact with and adapt to their environment. In this paper we develop i) a new 2-degree-of-freedom soft pneumatic actuator, and ii) a novel soft robotic hexapedal robot called SoRX that leverages the new actuators. Simulation and physical testing confirm that the proposed actuator can generate cyclic foot trajectories that are appropr...
