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Soft robots have the ability to adapt to their environment, which makes themsuitable for use in disaster areas and agricultural fields, where theirmobility is constrained by complex terrain. One of the main challenges indeveloping soft terrestrial robots is that the robot must be soft enough toadapt to its environment, but also rigid enough to exert the required force onthe ground to locomote. In this paper, we report a pneumatically driven, softmodular appendage made of silicone for a terrestrial robot capable ofgenerating specific mechanical movement to locomote and transport loads in thedesired direction. This two-segmented soft appendage uses actuation in betweenthe joint and the lower segment of the appendage to ensure adequate rigidity toexert the required force to locomote. A prototype of a soft-rigid-bodiedtethered physical robot was developed and two sets of experiments were carriedout in both air and underwater environments to assess its performance. Theexperimental results address the effectiveness of the soft appendage togenerate adequate force to navigate through various environments and our designmethod offers a simple, low-cost, and efficient way to develop terradynamicallycapable soft appendages that can be used in a variety of locomotionapplications.

Design of Soft, Modular Appendages for a Bio-inspired Multi-Legged Terrestrial Robot