Snakeskin-Inspired 3D Printable Soft Robot Composed of Multi-Modular Vacuum-Powered Actuators

A modular soft actuator with snakeskin-inspired scales that generates an anisotropic friction force is designed and evaluated in this study. The makes it possible to fabricate robots can move on various surfaces the natural environment. For existing modulus robots, additional connectors several independent pneumatic pumps are required. However, we precise connection snake-scale structures integrated a single unit. structure was printed using DLP 3D printer. movement characteristics of robot changed according angle scale structure, distance increased as number units increased. Soft operating environments such flat land, tubes, inclined paths, water have been realized. Furthermore, modularization strategies easily add units. We demonstrate ability deliver objects 2.5 times heavier than full weight by adding tong-like robot. development inspired snakeskin suggests easy approach enables tasks even where limited activity.