Analysis and control for a bioinspired multi-legged soft robot

Untethered soft miniature robots are considered to have a wide range of applications in biomedical field. However, researchers today still have not reached a consensus on its configuration design and actuation method. Here, inspired by the tentacles of a certain kind of echinodermata, we propose a soft multi-legged robot with a total weight of 0.26 g capable of multiple locomotion modes. Based on the magnetic field distribution of a square permanent magnet, we qualitatively analyze the motion mechanism of the robot. Finally, we carried out relevant experimental research. The research shows that the robot can move forward, backward, steering and cross obstacles under the control of the magnetic field, and can combine these abilities to navigate the maze.