Cable-driven inchworm-inspired soft crawling robot

A cable-driven soft crawling robot inspired by inchworm locomotion, utilising three motors to achieve an ‘Ω’ crawling motion, is proposed. Finite element analysis and quasi-static cable-driven tests were conducted to examine the deformations of the robot’s flexible body and optimise its structural components. The soft crawling robot prototype was fabricated using a combination of 3D printing and silicone casting techniques, and its crawling performance was evaluated. Experimental results show that the robot achieves an average crawling speed of approximately 3.5 mm/s on a horizontal surface. The maximum slope angles for forward and backward climbing are 15° and 18°, respectively, and the load capacity exceeds 400 g. The cable-driven design allows for the internal integration of power sources and control devices, making it particularly suitable for navigating narrow and complex spaces. Additionally, this design is less affected by external factors such as air pressure and temperature, offering advantages for operations in challenging environments.