This study presents the design and evaluation of a 3D-printed soft pneumatic robot intended for locomotion on rough and unstructured terrain. Using thermoplastic polyurethane (TPU) and fused filament fabrication, a hybrid robot was developed combining bellow-based extenders with Pneu-Net finger actuators to achieve an inchworm-style gait.
The design process followed the Double Diamond methodology, from literature review through iterative prototyping to a final evaluated prototype.
The robot is assessed on its ability to traverse unstructured surfaces, contributing practical design insights to the field of 3D-printed soft pneumatic robotics.
