Design and Multi-gait Implementation of Layered Actuators Based on Fiber-Pneumatic Coupled Variable-stiffness Snake Robots

doi:10.3969/j.issn.1004-132X.2026.05.009

China Mechanical Engineering ›› 2026, Vol. 37 ›› Issue (5): 1095-1104.DOI: 10.3969/j.issn.1004-132X.2026.05.009

Design and Multi-gait Implementation of Layered Actuators Based on Fiber-Pneumatic Coupled Variable-stiffness Snake Robots

MU Junqi¹^,²^,³(), WEI Yiyang¹^,²^,³, HOU Xuping¹^,²^,³, ZONG Xiaofeng¹^,²^,³()

^1.School of Automation，China University of Geosciences，Wuhan，430074
^2.Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems，Wuhan，430074
^3.Engineering Research Center of Intelligent Technology for Geo-Exploration，Ministry of Education，Wuhan，430074

Received:2025-06-19 Online:2026-05-25 Published:2026-06-09
Contact: ZONG Xiaofeng

基于纤维-气动耦合的变刚度蛇形机器人分层驱动器设计及其多步态研究

穆俊齐¹^,²^,³(), 魏奕扬¹^,²^,³, 侯旭萍¹^,²^,³, 宗小峰¹^,²^,³()

^1.中国地质大学自动化学院, 武汉, 430074
^2.复杂系统先进控制与智能自动化湖北省重点实验室, 武汉, 430074
^3.地质勘查智能技术教育部工程研究中心, 武汉, 430074

通讯作者: 宗小峰
作者简介:穆俊齐，男，1997年生，博士研究生。研究方向为软体机器人的设计与控制。发表论文6篇。E-mail： mjq@cug.edu.cn
宗小峰^*（通信作者）男，1987年生，教授。研究方向为多智能体。发表论文80余篇。E-mail： Zongxf@cug.edu.cn。
第一联系人：金永平^*（通信作者），男，1984年生，教授、博士研究生导师。研究方向为海洋矿产资源勘探开发、深海探测技术与装备研发、深海作业装备可靠性与智能运维。E-mail： jinyongping@hnust.edu.cn。
基金资助:
湖北省自然科学基金杰出青年项目(2022CFA041)

Abstract

Abstract:

To address the issues of wheeled snake robots， such as easy toppling and poor adaptability in complex terrains， a pneumatic snake robot with multiple gaits was proposed based on the principle of fiber interference variable stiffness. The robot used a triple-layer structure pneumatic actuator to dynamically adjust stiffness via air pressure. The modular design integrated components such as air pumps， electromagnetic valves， and unidirectional wheels. The experimental results show that the bending angle of the actuator is positively correlated with the air pressure. The design of dual-cavity combined with fiber reinforcement significantly enhances the load-bearing capacity. By coordinating the steering and load-bearing actuators， the robot may perform serpentine linear motion， C-shaped turns， and accordion-like motion， even crossing obstacles a third of the height. The modular structure reduces maintenance costs and supports rapid functional expansion. These findings offer an efficient actuation solution for wheeled soft snake robots， and support applications in complex scenarios such as rescue and pipe inspection.

Key words: snake robot, pneumatic, fiber interference variable stiffness, multi-gait

摘要：

针对轮式蛇形机器人在复杂地形中易翻倒、适应性不强的问题，提出了一种基于纤维干扰变刚度原理的多步态气动蛇形机器人。该机器人气腔采用三层结构气动驱动器，通过气压调控实现刚度动态调整，并结合模块化设计集成气泵、电磁阀及单向轮等组件。实验结果表明，驱动器弯曲角度与气压成正相关，双层气腔结合纤维增强的设计使承载能力显著提高。通过协调转向与承载驱动器，机器人可完成蛇形直线运动、C形转角运动及手风琴型运动，并跨越自身高度三分之一的障碍物。模块化结构降低了维护成本，支持快速功能扩展。研究结果为轮式软体蛇形机器人提供了高效驱动方案，为其在救援、管道检测等复杂场景的应用奠定基础。

关键词: 蛇形机器人, 气动, 纤维干扰变刚度, 多步态

CLC Number:

TP391.9

MU Junqi, WEI Yiyang, HOU Xuping, ZONG Xiaofeng. Design and Multi-gait Implementation of Layered Actuators Based on Fiber-Pneumatic Coupled Variable-stiffness Snake Robots[J]. China Mechanical Engineering, 2026, 37(5): 1095-1104.

穆俊齐, 魏奕扬, 侯旭萍, 宗小峰. 基于纤维-气动耦合的变刚度蛇形机器人分层驱动器设计及其多步态研究[J]. 中国机械工程, 2026, 37(5): 1095-1104.

Figures/Tables 13

Fig.1 Schematic diagram of the pneumatic actuator structure

Fig.2 Schematic diagram of the manufacturing process of pneumatic actuator

Tab.1 Physical properties of silicone materials

特性参数	HC9010	HC9015	HC9020
邵氏硬度HA	10±2	15±2	20±2
撕裂强度/（kg·cm $- 1$ ）	8±1	12±1	16±1
拉伸强度/（kg·cm $- 2$ ）	25±5	30±8	35±8
伸长率/%	520±50	500±50	480±50

Tab.1 Physical properties of silicone materials

特性参数	HC9010	HC9015	HC9020
邵氏硬度HA	10±2	15±2	20±2
撕裂强度/（kg·cm $- 1$ ）	8±1	12±1	16±1
拉伸强度/（kg·cm $- 2$ ）	25±5	30±8	35±8
伸长率/%	520±50	500±50	480±50

Fig.3 Composite structure pneumatic actuator

Fig.4 Line graph of input air pressure and bending angle

Fig. 5 Comparison experiment diagram of the carrying

Fig.6 Load test schematic of the load-bearing actuator

Fig.7 Schematic diagram of the module unit

Fig.8 Physical picture of the soft serpentine robot

Fig.9 Schematic diagram of serpentine linear motion

Fig.10 Schematic diagram of C-shaped angular motion

Fig.11 Simple graph of the accordion-type motion

Fig.12 Schematic diagram of accordion-type movement

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Design and Multi-gait Implementation of Layered Actuators Based on Fiber-Pneumatic Coupled Variable-stiffness Snake Robots

基于纤维-气动耦合的变刚度蛇形机器人分层驱动器设计及其多步态研究

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