A 2D Pneumatic Soft Robot with Suckers for Locomotion Soft robots have a great application potential in agriculture, military and disaster search and rescue and a flexible locomotivity is required for soft robots. This paper presents the design and fabrication procedure of a soft pneumatic robot that can move in different directions with various gaits and is called 2DSSR. The robot is composed of two soft actuators, which perform pure 2D bending, and three rigid connectors with three suckers. Based on specific sequences of seven air channels and the derived geometric kinematics, various gaits including moving forward and turning were simulated. The critical conditions of periodic locomotion were analyzed and the relationship between air pressure and bending angle was acquired in some tests. In order to verify the feasibility of the development of the new soft robot and gait simulations, the experiments of moving forward and turning were executed on both the singlemodule robot and doublemodule robot.

A Multimodal Soft CrawlingClimbing Robot with the Controllable Horizontal Plane to Slope Transition * Most of the existing soft locomotive robots are capable of moving on horizontal planes and smallangled slopes, but few of them can accomplish the largeangled slope climbing or wall climbing. We introduce an inchworm inspired soft crawlingclimbing robot capable of continuous motion from a horizontal plane to a slope of up to 75 degrees and it can perform multiple locomotion including crawling, climbing, and the transition between them. This soft crawlingclimbing robot is powered by three pneumatic actuators connected in series that deforms with two degrees of freedom, negative pressure sucker feet that generate periodical adhesion, and a semiautomatic controlling system synchronizing the body shape and anchoring of the feet. The robot mimics the body deformation and feet anchoring pattern exhibited by inchworms and can be applied in inspection, surveillance, and rescuing.