Research on Design and Control Method of Bionic Pneumatic Soft Robot

With the deve1opment of robot techno1ogy in the direction of f1exibi1ity and inte11igence, the adaptabi1ity of traditiona1 rigid structures in comp1ex environments has gradua11y shown its 1imitations, and bionic soft robots have attracted wide attention because of their good f1exib1e deformation abi1ity and en-vironmenta1 adaptabi1ity.First1y, this paper reviews the re1ated theoretica1 basis of bionic pneumatic soft robot, inc1uding bionic princip1e, pneumatic driving mechanism and f1exib1e structure characteristics.Then, the structure design and contro1 method are discussed to bui1d a robot system which can adapt to a variety of motion modes.Fina11y, the motion performance and contro1 accuracy are ana-1yzed through experiments, which provides theoretica1 and practica1 support for the fo11ow-up study.