Researchers from UC San Diego have produced a soft walking robot with four legs controlled by a pneumatic oscillating three-valve circuit made from tubes and valves. This soft quadruped robot can walk in any direction and avoid obstacles, all without electronics! A turtle-like diagonal couplet gait is created through an air-powered nervous system from a single source of pressurized air, such as an onboard CO2 cartridge or tether. The design enables actuation of multiple degrees of freedom, mimics natural central pattern generators (CPGs), offers a huge reduction in complexity, and brings a basic intelligent decision-making ability to the robot itself.
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