Bio-Inspired Soft Crawling Robot Which Moves Using Protrusions

In this study, we utilize the mechanism of previous soft bio-inspired robots and propose a soft crawling robot that can move on the ground with various protrusions. The robot has two long flexible arms, which autonomously grasp protrusions and move by pulling and pushing the protrusions. The behavior of the robot is complex; nevertheless, it has only two motors. The complex behavior is realized by interacting with the environment. An actual robot was developed using silicone rubber, experiments were conducted and movements were realized.