Untethered-Bioinspired Quadrupedal Robot Based on Double-Chamber Pre-charged Pneumatic Soft Actuators with Highly Flexible Trunk

Given that mobile soft robots are adaptable to the environment, they are always tethered with slow locomotion speed. Compared with other types of mobile robots, mobile soft robots may be more suitable for rescuing tasks, accompanying elderly people, and being used as a safe toy for children. However, the infinite freedom of soft robots increases the difficulty of precision control. In addition, the large volume and long tube of the conventional soft actuator structure limit the range of motion of current mobile soft robots. In this article, a newly designed innovative untethered-bioinspired quadrupedal robot based on double-chamber pre-charged pneumatic (DCPCP) soft actuators with highly flexible trunk is proposed. Asymmetrical cross-tendons actuated by servo motors are used to drive the DCPCP soft legs so that buckling can be avoided and mimic the gait of quadruped animals with the simplest drive and control strategy. In addition, the proposed design greatly improves energy efficiency and exhibits superior performance of variable stiffness. The bioinspired highly flexible trunk is designed with the supporting spine structure and tendon driven muscle to deform, which can constantly adjust to the contact situation between the foot and the ground to adjust the center of gravity of the soft quadruped robot and increase stability when walking and turning. The proposed soft quadruped robot does not require any air compressors, valves, and hoses. The characteristics of untethered, high-energy efficiency, linear control, and stability make the soft quadruped robot suitable for many applications.