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Pneumatically actuated soft robots have recently shown promise for their ability to adapt to their environment. Previously, these robots have been controlled with electromechanical components, such as valves and pumps, that are typically bulky and expensive. Here, we present an approach for controlling the gaits of soft-legged robots using simple pneumatic circuits without any electronic components. This approach produces locomotive gaits using ring oscillators composed of soft valves that generate oscillating signals analogous to biological central pattern generator neural circuits, which are acted upon by pneumatic logic components in response to sensor inputs. Our robot requires only a constant source of pressurized air to power both control and actuation systems. We demonstrate this approach by designing pneumatic control circuits to generate walking gaits for a soft-legged quadruped with three degrees of freedom per leg and to switch between gaits to control the direction of locom ....

Teleflex Inc , Stratasys Inc , Honeywell International Inc , Supplementary Materials , Corra Flex Tubing , Makerbot Replicator , Smooth On Inc , ஹனிவெல் சர்வதேச இன்க் , துணை பொருட்கள் , கோரா நெகிழ்வு குழாய் , மென்மையான ஆன் இன்க் ,