Fig. 3: Crawling behaviors of the origami-inspired soft robot.
From: Origami-inspired folding assembly of dielectric elastomers for programmable soft robots
a Analysis of the soft robot’s behaviors at each step of the crawling process, including the actuator’s switching state, the force direction, and the displacement direction. The soft robots walked on sandpaper with different grits, including P1500, P1000, and P600. b Angle variation of the soft robot’s front and rear feet with time during one motion cycle. c Height variation of the soft robot’s front and rear foot joints with time during one motion cycle. d Displacement variation with time for the soft robot under separate and simultaneous actuation. e Crawling speed of the soft robot under different actuation voltages. f Crawling behaviors of the soft robot with different loads
