Efficient Trotting of Soft Robotic Quadrupeds

Abstract

Soft robots hold significant potential in legged locomotion due to their inherent deformability, enabling enhanced adaptability to various environmental conditions and the generation of diverse locomotion gaits. While various soft robots have been proposed for terrestrial locomotion, research on dynamically-stable locomotion, such as trotting, with actuated soft bending limbs remains limited. We introduce a pneumatically-actuated soft quadruped featuring a soft body capable of a variety of dynamically-stable trotting locomotion. We utilize soft limb kinematics and parameterize fundamental limb locomotion to obtain quadrupedal locomotion trajectories for both linear and curvilinear motions. We also employ a physics-enabled dynamic model to optimize and evaluate trotting locomotion trajectories for dynamic stability. We further validate the stable locomotion trajectories through empirical experiments conducted on a soft quadruped prototype. The results demonstrate that the quadruped trots at a peak speed of 1.24 body lengths per second when traversing flat and uneven terrains, including slopes, cluttered areas, and naturalistic irregular surfaces. Furthermore, we compare the energy efficiency between trotting and crawling locomotion. The findings reveal that trotting is significantly more energy-efficient than crawling, with an average energy saving of up to 42%.Note to Practitioners—This paper was motivated by the challenge of achieving dynamically stable and efficient locomotion in soft quadrupeds. Many soft-legged robots are typically designed for statically stable, albeit inefficient and slow, locomotion gaits such as crawling. Our research aims to address this practical challenge of improving mobility in soft-legged robots. We develop a novel soft quadruped with pneumatically-actuated soft limbs that achieves efficient trotting that is 42% more energy-efficient than crawling. This work is particularly relevant for industries requiring adaptable and efficient navigation in environments, such as search and rescue, agricultural monitoring, and exploration. The development and optimization of trotting gaits through a physics-enabled dynamic model for dynamic stability provide a foundational framework for enhancing the adaptability and operational utility of soft robots. While our findings mark a significant step forward, challenges remain in deploying these locomotion strategies on autonomous untethered robots with onboard sensor feedback. Future research will focus on these areas, aiming to improve the practical deployment and robustness of soft robotic locomotive systems.