ImageGuided Locomotion of a PneumaticDriven Peristaltic Soft Robot In this work, a pneumaticdriven peristaltic soft robot with pressure feedback control and imageguided tracking is developed. Locomotion is achieved in tubelike environments by mimicking the peristaltic motion of earthworms. The soft actuators are made of silicone rubber with 3D molding and fiber reinforcements. Pressure control is performed using custommade syringe pumps and onoff controllers in Arduino. Realtime visual tracking is accomplished in OpenCV with a colorbased approach. The soft robot has a stroke of 3035mm for each cycle of actuation. This pneumatic soft robot shows great potential for application in minimally invasive surgery due to its compliance and biocompatibility.

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.