Side view of a single air pouch.
<div><p>Inspired by the flexible structures found in soft organisms in nature, researchers have developed a variety of novel soft robots using flexible materials. Compared to traditional rigid robots, soft robots offer advantages such as lighter weight, greater flexibility, higher degree...
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2025
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| _version_ | 1852016258552168448 |
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| author | Hongjun Meng (5031806) |
| author2 | Changbao Zhou (22311654) Xingbo Yang (22311657) Peiqi Zhao (1835164) Wei Zhang (405) |
| author2_role | author author author author |
| author_facet | Hongjun Meng (5031806) Changbao Zhou (22311654) Xingbo Yang (22311657) Peiqi Zhao (1835164) Wei Zhang (405) |
| author_role | author |
| dc.creator.none.fl_str_mv | Hongjun Meng (5031806) Changbao Zhou (22311654) Xingbo Yang (22311657) Peiqi Zhao (1835164) Wei Zhang (405) |
| dc.date.none.fl_str_mv | 2025-09-25T17:43:42Z |
| dc.identifier.none.fl_str_mv | 10.1371/journal.pone.0333187.g004 |
| dc.relation.none.fl_str_mv | https://figshare.com/articles/figure/Side_view_of_a_single_air_pouch_/30212283 |
| dc.rights.none.fl_str_mv | CC BY 4.0 info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Cell Biology Physiology Biotechnology Ecology Cancer Science Policy Plasma Physics Infectious Diseases Space Science Biological Sciences not elsewhere classified Mathematical Sciences not elsewhere classified Chemical Sciences not elsewhere classified Information Systems not elsewhere classified xlink "> inspired traditional rigid robots flexible structures found experimental results demonstrated driven modeling method 50 %, resulting pneumatic actuator suitable hexagonal mesh structure robot &# 8217 proposed optimized algorithm novel design approach also systematically designed improved control accuracy soft control model quadruped soft robot soft actuator soft structure improved safety soft organisms overall structure robot interaction control system significant challenge paper proposed lighter weight leg movements higher degrees greater flexibility |
| dc.title.none.fl_str_mv | Side view of a single air pouch. |
| dc.type.none.fl_str_mv | Image Figure info:eu-repo/semantics/publishedVersion image |
| description | <div><p>Inspired by the flexible structures found in soft organisms in nature, researchers have developed a variety of novel soft robots using flexible materials. Compared to traditional rigid robots, soft robots offer advantages such as lighter weight, greater flexibility, higher degrees of freedom, and improved safety in human-robot interaction. However, designing and controlling soft robots remains a significant challenge. This paper proposed a novel design approach for a bio-inspired quadruped soft robot. Firstly, a hexagonal mesh structure for a quadruped soft robot was proposed, and the pneumatic actuator suitable for the soft structure was designed to enable the robot’s leg movements, such as extension and bending. The body and overall structure of the robot were also systematically designed. Furthermore, a data-driven modeling method for the soft actuator was introduced, alongside an Improved Particle Swarm Optimization algorithm for fine-tuning PID control parameters. Finally, the prototype of the quadruped soft robot was constructed, and the control system was implemented. The proposed soft actuator model was validated, and the effectiveness of the proposed optimized algorithm was evaluated. Experimental results demonstrated that the application of the soft control model and the control parameter optimization algorithm reduced tracking angle errors by more than 50%, resulting in improved control accuracy and greater stability.</p></div> |
| eu_rights_str_mv | openAccess |
| id | Manara_6f528136f889d5d7514761dba35e4792 |
| identifier_str_mv | 10.1371/journal.pone.0333187.g004 |
| network_acronym_str | Manara |
| network_name_str | ManaraRepo |
| oai_identifier_str | oai:figshare.com:article/30212283 |
| publishDate | 2025 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | CC BY 4.0 |
| spelling | Side view of a single air pouch.Hongjun Meng (5031806)Changbao Zhou (22311654)Xingbo Yang (22311657)Peiqi Zhao (1835164)Wei Zhang (405)Cell BiologyPhysiologyBiotechnologyEcologyCancerScience PolicyPlasma PhysicsInfectious DiseasesSpace ScienceBiological Sciences not elsewhere classifiedMathematical Sciences not elsewhere classifiedChemical Sciences not elsewhere classifiedInformation Systems not elsewhere classifiedxlink "> inspiredtraditional rigid robotsflexible structures foundexperimental results demonstrateddriven modeling method50 %, resultingpneumatic actuator suitablehexagonal mesh structurerobot &# 8217proposed optimized algorithmnovel design approachalso systematically designedimproved control accuracysoft control modelquadruped soft robotsoft actuatorsoft structureimproved safetysoft organismsoverall structurerobot interactioncontrol systemsignificant challengepaper proposedlighter weightleg movementshigher degreesgreater flexibility<div><p>Inspired by the flexible structures found in soft organisms in nature, researchers have developed a variety of novel soft robots using flexible materials. Compared to traditional rigid robots, soft robots offer advantages such as lighter weight, greater flexibility, higher degrees of freedom, and improved safety in human-robot interaction. However, designing and controlling soft robots remains a significant challenge. This paper proposed a novel design approach for a bio-inspired quadruped soft robot. Firstly, a hexagonal mesh structure for a quadruped soft robot was proposed, and the pneumatic actuator suitable for the soft structure was designed to enable the robot’s leg movements, such as extension and bending. The body and overall structure of the robot were also systematically designed. Furthermore, a data-driven modeling method for the soft actuator was introduced, alongside an Improved Particle Swarm Optimization algorithm for fine-tuning PID control parameters. Finally, the prototype of the quadruped soft robot was constructed, and the control system was implemented. The proposed soft actuator model was validated, and the effectiveness of the proposed optimized algorithm was evaluated. Experimental results demonstrated that the application of the soft control model and the control parameter optimization algorithm reduced tracking angle errors by more than 50%, resulting in improved control accuracy and greater stability.</p></div>2025-09-25T17:43:42ZImageFigureinfo:eu-repo/semantics/publishedVersionimage10.1371/journal.pone.0333187.g004https://figshare.com/articles/figure/Side_view_of_a_single_air_pouch_/30212283CC BY 4.0info:eu-repo/semantics/openAccessoai:figshare.com:article/302122832025-09-25T17:43:42Z |
| spellingShingle | Side view of a single air pouch. Hongjun Meng (5031806) Cell Biology Physiology Biotechnology Ecology Cancer Science Policy Plasma Physics Infectious Diseases Space Science Biological Sciences not elsewhere classified Mathematical Sciences not elsewhere classified Chemical Sciences not elsewhere classified Information Systems not elsewhere classified xlink "> inspired traditional rigid robots flexible structures found experimental results demonstrated driven modeling method 50 %, resulting pneumatic actuator suitable hexagonal mesh structure robot &# 8217 proposed optimized algorithm novel design approach also systematically designed improved control accuracy soft control model quadruped soft robot soft actuator soft structure improved safety soft organisms overall structure robot interaction control system significant challenge paper proposed lighter weight leg movements higher degrees greater flexibility |
| status_str | publishedVersion |
| title | Side view of a single air pouch. |
| title_full | Side view of a single air pouch. |
| title_fullStr | Side view of a single air pouch. |
| title_full_unstemmed | Side view of a single air pouch. |
| title_short | Side view of a single air pouch. |
| title_sort | Side view of a single air pouch. |
| topic | Cell Biology Physiology Biotechnology Ecology Cancer Science Policy Plasma Physics Infectious Diseases Space Science Biological Sciences not elsewhere classified Mathematical Sciences not elsewhere classified Chemical Sciences not elsewhere classified Information Systems not elsewhere classified xlink "> inspired traditional rigid robots flexible structures found experimental results demonstrated driven modeling method 50 %, resulting pneumatic actuator suitable hexagonal mesh structure robot &# 8217 proposed optimized algorithm novel design approach also systematically designed improved control accuracy soft control model quadruped soft robot soft actuator soft structure improved safety soft organisms overall structure robot interaction control system significant challenge paper proposed lighter weight leg movements higher degrees greater flexibility |