Twisted and coiled here polymer (TCP) actuators are becoming increasingly prevalent in soft robotic fields due to their powerful and hysteresis-free stroke, large specific work density, and ease of fabrication.This paper presents a soft crawling robot with spike-inspired robot feet which can deform and crawl like an inchworm.The robot mainly consists of two leaf springs, connection part, robot feet, and two TCP actuators.A system level model of a soft crawling robot is presented for flexible and effective locomotion.
Such a model can offer high-efficiency design and flexible locomotion of the crawling robot.Results show that the soft crawling robot can move at a speed of 0.275 serra avatar price mm/s when TCP is powered at 24 V.