abstract
- Soft robotics offers numerous advantages for crawling robot design, including flexibility and adaptability. Soft robots are constructed using soft and compliant materials, reducing the risk of harm or damage when interacting with humans or delicate objects. Additionally, their compliant nature allows soft robots to adapt to varying environmental conditions. These characteristics make soft robots highly suitable for applications that involve crawling in complex, unstructured, or constrained environments. This article presents a bio-inspired soft crawling robot and investigates a locomotion sequence within a pipe. The study focuses on optimizing the locomotion parameters to maximize the robot¿s displacement speed. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.