Multi-chamber Pneumatic Actuator for Peristaltic Soft Robot

Soft robots have the characteristics of high flexibility and strong environmental adaptability compared with traditional robots, and the peristaltic soft robot is a critical class for this field because of the peristaltic creature's superior softness, various movement, and can through complex space. However, this soft robot has the problem of single motion or limited deformation ability at present. In this paper, a pneumatic corrugated structure driver with a multi-chamber was designed to squirmy soft robots, it can elongation, contraction and turning. We designed the actuator's structure and fabrication of the model. Simultaneously, a set of controller systems is built to control its deformation, we complete the action of forwarding and turning with the actuator on experiments.