Fig. 5: Cascaded-loop crawling robot.
From: A non-electrical pneumatic hybrid oscillator for high-frequency multimodal robotic locomotion
a i: Design principle of the cascaded-loop of two pneumatic hybrid oscillators (PHOs). ii: The inner pressures of the four chambers change periodically over time in the cascade configuration. b Waveforms of chamber pressure, active joint angles, and passive joint angles at a constant supply pressure. c The design of the crawling robot. d The crawling gait of the robot. e The robot crawls forward under constant input pressure. f The speed of the crawling robot varies with frequency. Shaded regions represent 1 standard deviation. g Velocity comparison of the pneumatic crawling robots.36,50,53,54,55,56,57,58,59,60.
