A Systematic Review of Mobile Soft Robots

Resumo

This article presents a comprehensive review of the advancements in mobile soft robotics, highlighting their design, actuation mechanisms, and performance capabilities. The objective is to examine the fastest and most capable mobile soft robots, emphasizing their diverse approaches and technologies for various environments. A systematic literature review was conducted using IEEE Xplore and Scopus databases, focusing on mechanical models, actuation methods, and performance metrics. Results show that the Tunable Dynamic Walking robot, using vibration through soft twisted beams, achieved the highest speed of 156.30 mm/s. Additionally, the Untethered Crawling Robot, employing pneumatic actuation, demonstrated the highest payload capacity of 6000 g. These findings underscore the significant progress in speed, mobility, and payload capacities of mobile soft robots. The study emphasizes the importance of continued research in enhancing the functionality and adaptability of these robots for real-world applications, including inspection, surveillance, and environmental monitoring.