Modeling of multi locomotion of soft robot

Abstract

Inspired by nature, engineers have explored the design of soft bio-inspired robots. Soft-bodied robots have potential to exploit morphological computation to adapt and interact. Modeling of the movement of a worm, a caterpillar and an octopus will be presented and analysed in this work. The models rely on segmented approach and variations of external loadings to achieve the desired kinematics of movement using Matlab/Simulink. The parametric results from the simulation lead to a conclusion of optimal number of segments and performance. The actuation of the robot is foreseen to be achieved by shape memory allows in linear and torsional configuration. Multi locomotion of these bio-inspired soft robots will be analysed.