Suitable configurations for pneumatic soft sheet actuator to generate traveling waves

Abstract This paper presents suitable configurations for a pneumatic soft sheet actuator capable of moving by traveling waves. Inspired by the locomotion of snails and slugs using pedal foot generating traveling waves, we challenge to develop a pneumatic sheet type actuator named Wavy-sheet, aiming to make it move even on a fragile environment which the wheel-type robots are hard to cross over. To design the suitable configuration to fulfill the above purpose, first, we derive combinations of realizable waveform patterns from a mathematical point of view and examine the characteristics of the waves. Next, after a couple of desired configurations are selected from the aspects of velocity and payload, their prototypes are fabricated. Finally, to verify the validity of our consideration, the experiments are conducted, and the most suitable configuration for the proposed actuator is determined.