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The vision of creating entirely-soft robots capable of performing complextasks will be accomplished only when the controllers required for autonomousoperation can be fully implemented on soft components. Despite recent advancesin compliant fluidic circuitry for mechanical signal processing, theapplicability of this technology for soft robot control has been limited bycomplicated fabrication and tuning processes, and also the need for externalsignals such as clocks and digital references. We propose a method to developpneumatic soft robots in which coordinated interactions between multipleactuators are performed using controllers implemented on componentsdistributedly embedded in the soft structures of the system. In this approach,the notions of binary and multi-valued actuator logic states are introduced. Inthis way, the physical local dynamical couplings between the analog states ofthe actuators, established using soft valves of a new type, can be thought ofas logic-gate-based mappings acting on discretized representations of theactuator states. Consequently, techniques for digital logic design can beapplied to derive the architectures of the localized mechanical couplings thatintelligently coordinate the oscillation patterns of the actuator responses.For the purposes of controller tuning, the soft valves are conceived so thattheir main physical parameters can be adjusted from the exterior of the robotthrough simple geometrical changes of the corresponding structural elements. Todemonstrate the proposed approach, we present the development of a six-statelocomoting soft robot.

Electronics-Free Pneumatic Logic Circuits for Localized Feedback Control of Multi-Actuator Soft Robots