Soft-bodied robots offer advantages in adaptability and safety, but their locomotion speed and stability remain key challenges. This project explores the use of a bistable actuation system to enhance movement efficiency and optimize the interaction between pneumatic actuation and structural design. By incorporating a spring-reinforced spine and different limb structures, the robot aims to achieve controlled, high-speed motion with improved environmental adaptability. The purpose of this study is to investigate how limb shape, inflation frequency, and terrain type affect the mobility of the robot. Results show that limb shape significantly impacts stability and speed, with the bionic-inspired design achieving higher velocity while the high-friction model provides better balance. Inflation frequency is critical, as excessively low frequencies lead to overinflation and instability. The robot performs well on firm surfaces but experiences reduced mobility on sand and inclined planes. These findings demonstrate that bistable mechanisms and limb optimization can improve the speed and control of soft robots.

Cilai Jin. Adaptive Soft-Body Robot with Pneumatic Actuation and Bistable Spine for Locomotion. Academic Journal of Engineering and Technology Science (2025), Vol. 8, Issue 4: 87-93. https://doi.org/10.25236/AJETS.2025.080412.

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