Design of a soft crawling robot with turning function

Soft robot made of soft materials can change its shape and size in different environment and it has excellent environmental adaptability and motion stability. The research presents a design of a motor and nylon wires actuated soft crawling robot which is made of silica gel, and the contact between body and substrate is discrete. Ends of the main body are respectively fixed with a friction mechanism to help crawling. In addition, it's convenient for both assembling and maintenance with modular design. In view of the current situation that there are very few soft robots have the turning function with the same driving mode, the presented soft crawling robot integrates the functions of forward, backward, turning left and right.