Soft Fluidic Actuator for Locomotion in Multi-Phase Environments

This letter presents the design, development, and experimental assessment of a soft fluidic actuator that can enable locomotion in variety aquatic terrestrial environments. Most actuation strategies for amphibious rely on rigid, fast moving components to generate thrust tractive forces. Our prototype, comprising materials, relying simple motion planning control strategies, demonstrates two gaits, we employ vastly different scenarios, underwater swimming granular terrain with varying levels water content. By adjusting its internal pressure, dynamically varies stiffness shape, transitions between wheel paddle form. Experimental results controlled laboratory conditions serve as proof-of-concept proposed actuator's efficacy. Using patterns schemes, show this prototype achieves both