Soft biomimetic leg design and fabrication process of cockroach-inspired robot

Successful locomotion of bio-mimetic robots over uneven terrains with obstacles and cliffs is still a challenge. In this paper we try to find another way to depict a soft biomimetic leg of cockroach by using Silicon & Urethane material and embedded actuator. Comparing others research, our proposed structure is simple and has one actuator for each leg, which is easy to control the 6 legs locomotion, however the structure design consider the real cockroach size and joints of the cockroach leg sufficiently. On the other side, based on the Voice Coil Motor (VCM) design, leg integrate the motor, soft structure and flexure hinge by using Structure Casting Manufacturing (SCM) method to fabricate.