Biomimetic Soft Robotics: Reconfigurable Pneumatic Logic Circuits for Snake-inspired Locomotion

Abstract While conventional soft robots employ electronic control systems to achieve intelligent behaviors, they encounter fundamental constraints, particularly regarding inherent safety in physical human-robot interaction (HRI) and environmental adaptability. To address these challenges, we develop a snake-inspired soft robot as a platform to demonstrate the capabilities of fluidic logic circuits for controlling complex locomotion without electronics, utilizing programmable flexible valves capable of autonomous Boolean logic operations (NOT, NAND, NOR). Experimental characterization reveals that the 50g robot achieves directed locomotion at 22 mm/s and steering motion at 0.95°/s when operating at 0.25-1 Hz, with fluid-mediated gait transitions triggered by environmental contact. This mechanically intelligent approach offers a potential pathway toward systems with inherent safety benefits, suitable for future applications such as medical assistance and industrial collaboration, eliminating the electronic dependence characteristic of traditional soft robotic systems.