Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella

Soft robots demonstrate an impressive ability to adapt objects and environments. However, current soft mobile often use a single mode of movement. This gives good locomotion performance in specific environments but poor others. In this paper, we propose leg–wheel mechanism inspired by bacterial flagella it design robot. employs tendon-driven continuum structure replicate the flagellar filaments, while servo gear components mimic action motors. By utilizing twisting swinging motions structure, robot achieves both wheeled legged locomotion. The paper provides comprehensive descriptions detailed kinematic analysis To verify feasibility robot, prototype was implemented, experiments were performed on mode, post-overturning motion. experimental results that can achieve motions. Moreover, is also demonstrated still has mobility after overturning. expands applicability scenarios