Configurable Tendon Routing in a 3D-printed Soft Actuator for Improved Locomotion in a Multi-Legged Robot

Soft robots struggle with terrestrial locomotion due to their inherent lack of rigidity, specifically along axes not in line with the direction of actuation (side loads). We present a method for improved stiffness in a 3D printed, tendon-driven soft actuator. We show, both mathematically and experimentally, that our method leads to improved stiffness to these side loads. Additionally, we demonstrate the use of complex tendon routing schemes to achieve various trajectories with a single actuator morphology. Finally, we demonstrate that these two tendon routing strategies lead to improved locomotion speed and gait efficiency in a 3-legged, 3D printed, soft robot.