A flex-rigid soft robot for flipping locomotion

摘要

This paper presents a flex-rigid soft robot for flipping locomotion. The proposed robot is made into a strip shape and consists of three rigid limbs connected by two active flexible hinges. Its flipping locomotion is achieved by active folding and developing of the hinges. To validate its locomotion ability, experiment is conducted on level ground. The results show that the proposed flex-rigid robot can perform flipping locomotion with average velocity of 60 mm/s.