Design, Modeling, and Control of a Legless Squamate Reptiles Inspired Soft Crawling Robot

For soft crawling robots moving in two-dimensional space, accurate dynamics models are the basis for control and navigation. However, it is still challenging for nonlinear and low-bandwidth soft robot systems. This article details two dynamics models that can be applied to predict the motion of a soft crawling robot in the context of 2D modeling. We also propose a pneumatic soft crawling module that moves using a scale-like chassis. By analyzing the motion principle of the legless squamate reptile, three chassis structures are created and fabricated to simulate anisotropic friction. And the control law of control system parameters is explored. The above models are simulated based on the measured physical parameters of the soft crawling module. Through the analysis of the experimental locomotion results, the horizontal belt type shows more effective action, and the proposed model accurately describes the crawling robot's motion.