Nonlinear analysis on moving process of soft robots

The soft robot consists of several deformable spherical cells. It is a nonlinear system. According to the deflating and inflating action of the spherical cells, the size of each spherical cell can be changed. Thus, the soft robot can move forward. In the paper, the moving process is analyzed in one circular movement with the deflating and inflating modes of each cell. The theoretical analysis of the distance expected is counted. Then the forces on the inflating process are presented in detail, which push the cells to move forward. Lastly, an experiment is shown to emulate the moving process of the soft robot. The theoretical result and the experimental result are compared. It shows that the soft robot that consists of several deformable spherical cells can move forward with the nonlinear inflating and deflating process.