Design and gait research of pneumatic soft quadruped robot

Abstract

Soft robots possess flexibility and, in theory, an unlimited number of degrees of freedom. These characteristics give them superior flexibility, making them better suited for navigating complex terrain, such as steep or rugged environments, compared to rigid robots. The design of the quadruped robot is based on the deformation principles of a pneumatically driven honeycomb network, with leg deformation controlled through air pressure regulation. Furthermore, the mathematical model of the quadruped robot is developed, including both a vertical elongation model and a bending elongation model of the leg structure, established through geometric analysis. An experimental platform for the quadruped robot system is then constructed, and experimental analyses are performed to assess the elastic coefficient, hysteresis performance, elongation capacity, and bending performance of one of the robot’s legs, verifying the accuracy of the mathematical model. Based on control requirements, LabVIEW is used to design static and dynamic gait programs for the quadruped robot, ultimately enabling control of its walking motion.