Bio-Inspired Soft Robot for Locomotion and Navigation in Restricted Spaces

Abstract

Soft robotics have been shown to be particularly versatile for accessing restricted and hazardous environments, such as nuclear and chemical processing plants, and pipelines. This paper presents a bio-inspired soft robot capable of propelling itself inside a cylindrical space. The continuum soft robot consists of three main sections, which, with coordinated inflation and deflation, enable a controlled locomotion of the robot.