A Multimodal Climbing-Swimming Soft Robotic Lamprey

Abstract Here, we present a multimodal, lamprey-inspired, 3D printed soft fluidic robot/actuator based on an antagonistic pneunet architecture. The Pacific Lamprey is a unique fish which is able to climb wetted vertical surfaces using its suction-cup mouth and snake-like morphology. The continuum structure of these fish lends itself to soft robots, given their ability to form continuous bends. Additionally, the high gravimetric and volumetric power density attainable by soft actuators make them good candidates for climbing robots. Fluidic soft robots are often limited in the forces they can exert due to limitations on their actuation pressure. This actuator is able to operate at relatively high pressures (for soft robots) of 756 kPa (95 psig) with a −3 dB bandwidth of 2.23 Hz to climb at rates exceeding 18 cm/s. The robot is capable of progression on a vertical surface using a compliant microspine attachment as the functional equivalent of the lamprey’s more complex suction-cup mouth. The paper also presents the details of the 3D-printed manufacturing of this actuator/robot.