New pneumatic rubber leg mechanism for omnidirectional locomotion

Mohamed Najib Ribuan, Koichi Suzumori, Shuichi Wakimoto

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper describes a new pneumatic rubber leg mechanism for omnidirectional locomotion. The new mechanism was adopted from a pneumatic balloon actuator where translation and bending motions are produced as a result of balloon deformation. It was constructed using five chambers: one on the top and centered over four bottom chambers arranged in a square. Several possible designs were simulated to achieve the optimal design using a non-linear finite element analysis that considered the design parameters and the geometrical and material non-linearity of the elements. Prototyping was then performed using a rapid and efficient silicone rubber molding fabrication process based on computer-aided design and manufacturing. The experimental results were in good agreement with the analytical results. In conclusion, we have established a new rubber leg mechanism with a high degree of freedom to realize omnidirectional locomotion for a soft robot base, delicate object conveyance, and / or microscope stage applications.

Original languageEnglish
Pages (from-to)222-230
Number of pages9
JournalInternational Journal of Automation Technology
Issue number2
Publication statusPublished - Mar 2014


  • Omnidirectional locomotion
  • Pneumatic actuator
  • Rubber mechanism
  • Soft actuator
  • Soft robotic

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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