Multi-modal robot adapted to multiple terrains

Abstract

The present application discloses a multi-modal robot adapted to multiple terrains, comprising a first body housing, a second body housing, a main body soft actuator, a first foot soft actuator, a second foot soft actuator, a first foot, and a second foot. Each body housing is provided with a connection portion, and is configured to be connected to the corresponding soft actuator by means of a connecting member. The main body soft actuator is configured to extend when inflated and retract when deflated, so as to drive the multi-modal robot to move. Each foot soft actuator is configured to extend when inflated to move the corresponding foot outward, and retract when deflated to move the corresponding foot inward; the foot comprises a foot connection portion and a foot pad portion; and the foot connection portion is configured to be connected to the corresponding foot soft actuator by means of a connecting member. The multi-modal robot of the present application has a plurality of operating modes, can achieve linear and curved motions, can also move on complex terrains such as a sandy ground, a slope and a step, has a certain self-regulation capability, and can be better adapted to working environments and tasks in different terrains.

Description

Multimodal robots adaptable to various terrains Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a multimodal robot adaptable to various terrains. Background Technology

[0002] The flexibility and adaptability of pneumatic soft robots allow them to move flexibly in complex environments, much like the deformable tentacles of an octopus or the wriggling body of a caterpillar. They can adjust their shape and movement strategies as needed to adapt to a wider range of tasks, obstacles, and environmental conditions, and are currently widely used in fields such as medicine, search and rescue, manufacturing, and service. However, despite these advantages, existing pneumatic soft robots still face many challenges in effectively traversing diverse terrains. Traditional pneumatic soft robot designs typically have a single operating mode and form, operating only in one mode on a single type of terrain, such as only being able to move on flat ground. They lack versatility in adapting to different types of surfaces, such as sand or stairs. Summary of the Invention

[0003] This application aims to address the shortcomings of existing technologies by providing a multimodal robot that can adapt to various terrains, including flat and uneven terrains, and even climb stairs.

[0004] Embodiments of this application disclose a multimodal robot adapted to various terrains, comprising:

[0005] The first fuselage has a first foot joint on its top, which is configured to engage with a first foot connector. The first foot connector is configured to connect an air tube to a first foot soft actuator, thereby enabling communication between the air tube and the first foot soft actuator. On one side of the bottom of the first fuselage, there is a first main body joint, which is configured to engage with a first main body connector. The first main body connector is configured to connect an air tube to a main body soft actuator, thereby enabling communication between the air tube and the main body soft actuator.

[0006] The second fuselage has a second foot engagement portion on its top, which is configured to engage with a second foot connector. The second foot connector is configured to connect an air tube to a second foot soft actuator, thereby enabling communication between the air tube and the second foot soft actuator. The second fuselage has a second main body engagement portion on one side of its bottom, which is configured to engage with a second main body connector. The second main body connector is configured to connect to a main body soft actuator.

[0007] The main body software actuator is configured to extend when inflated and retract when deflated, thereby driving the multimodal robot to move.

[0008] The first foot soft actuator is configured to extend to extend the first foot when inflated and retract to retract the first foot when deflated.

[0009] The second foot soft actuator is configured to extend when inflated to extend the second foot and retract when deflated to retract the second foot.

[0010] The first foot includes a first foot engagement portion and a first foot pad portion, the first foot engagement portion being configured to engage with a first foot connector, the first foot connector being connected to a first foot software driver;

[0011] The second foot includes a second foot engagement portion and a second foot pad portion, the second foot engagement portion being configured to engage with a second foot connector, the second foot connector being connected to a second foot software driver.

[0012] In one embodiment, the main body soft actuator may include at least two bellows arranged side by side, with the ends of the two bellows connected to a first main body connector and a second main body connector, respectively. When both bellows are inflated, the main body soft actuator extends; when both bellows are deflated, the main body soft actuator retracts; when one bellows is inflated while the other is deflated, the main body soft actuator bends. The first foot soft actuator and the second foot soft actuator each include at least one bellows. The ends of the bellows of the first foot soft actuator are connected to a first foot connector and a first foot joint, respectively. When the bellows of the first foot soft actuator are inflated, the first foot soft actuator extends; when the bellows of the first foot soft actuator are deflated, the first foot soft actuator retracts. Similarly, the ends of the bellows of the second foot soft actuator are connected to a second foot connector and a second foot joint, respectively. When the bellows of the second-leg soft actuator is inflated, the second-leg soft actuator extends; when the bellows of the second-leg soft actuator are deflated, the second-leg soft actuator retracts. The inflation and deflation of the bellows enables the corresponding soft actuator to drive the multimodal robot to move.

[0013] In one embodiment, the connector is a rotary snap-fit, including a base and two semi-circular fitting portions with different radii. The two semi-circular fitting portions include a first semi-circular fitting portion and a second semi-circular fitting portion, wherein the first semi-circular fitting portion is connected to the base. The radius of the first semi-circular fitting portion is smaller than the radius of the second semi-circular fitting portion, and the thickness of the first semi-circular fitting portion is greater than the thickness of the second semi-circular fitting portion, such that a gap is formed between the second semi-circular fitting portion and the base. Furthermore, the base can be configured to be sealed to the end of the bellows of the soft actuator by a hot-melt adhesive.

[0014] In one embodiment, the first foot connector, the second foot connector, and the first body connector may further include an air nozzle extending outward from the first semi-circular fitting portion, configured to connect an air tube to provide power to the software actuator.

[0015] In one embodiment, the first foot joint and the second foot joint may each include double semi-circular hollow portions with different radii, while the first body joint and the second body joint each include two double semi-circular hollow portions with different radii.

[0016] In one embodiment, the top of the foot joint is provided with double semi-circular cutouts of different radii, while the bottom sides of the foot joint are provided with protruding connecting portions. The protruding connecting portions are connected to the top of the foot pad, so that a gap is formed between the protruding connecting portions and the top of the foot pad.

[0017] Furthermore, the aforementioned double semi-circular hollow portion includes a first semi-circular hollow portion and a second semi-circular hollow portion, wherein the radius of the first semi-circular hollow portion is smaller than the radius of the second semi-circular hollow portion. The double semi-circular hollow portion is configured to mate with the double semi-circular fitting portion of the corresponding connector to fix the corresponding connector.

[0018] In one embodiment, the foot pad is made of PLA material and has a groove on its bottom surface configured to accommodate silicone material.

[0019] In one embodiment, the fuselage shell, connectors, and foot joints can all be made of PLA material and manufactured by 3D printing.

[0020] In one embodiment, the bottom of the first fuselage housing has first recesses on both sides to accommodate first feet, and a protruding head on the opposite side of the bottom of the first fuselage housing opposite to the first main body joint to assist climbing; while the bottom of the second fuselage housing has second recesses on both sides to accommodate second feet. Similarly, the head can also be configured to be installed on the opposite side of the bottom of the second fuselage housing opposite to the second main body joint.

[0021] Generally, the coefficient of friction of silicone material is greater than that of PLA material, which enables the multimodal robot of this application to be configured with a foot structure with bidirectional tribotropic friction, so that a difference in friction force can be formed between the front and rear feet during movement, thereby completing forward or backward operation.

[0022] The beneficial effects of this application include:

[0023] The multimodal robot adapted to various terrains designed in this application adopts a rotary snap-fit ​​connection, which allows for quick assembly and disassembly of various parts of the robot. It has the advantages of simple installation, high replaceability, and high maintainability. The rotary snap-fit ​​(connector) design can significantly improve work efficiency. When any part of the multimodal robot has a problem or is damaged, the corresponding part can be quickly repaired.

[0024] The multimodal robot designed in this application is adaptable to various terrains and has multiple operating modes and forms. It can adapt not only to flat terrain but also to uneven terrain and even climb stairs. For example, the multimodal robot of this application can travel on flat ground, slopes within 20°, roads with obstacles spaced 12cm apart, geology covered with 5cm thick sand, and even stairs with a height of 20cm.

[0025] The multimodal robot designed in this application, which is adaptable to various terrains, can not only achieve linear motion by controlling the extension of the main body soft actuator, but also achieve curvilinear motion by controlling the air pressure difference between the two bellows in the main body soft actuator, thus making the multimodal robot more adaptable.

[0026] The multimodal robot designed in this application is adaptable to various terrains and has self-correction capabilities. When it rolls over, it controls the soft actuators and feet to achieve self-adjustment when falling, thereby improving its adaptability in complex environments. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, which are shown at different scales and where the same or similar reference numerals denote the same or similar components or components having the same or similar functions, wherein:

[0028] Figure 1 is a structural schematic diagram of a multi-modal robot adapted to various terrains according to this application;

[0029] Figure 2 shows structural perspective views of the multimodal robot adapted to various terrains according to this application from different perspectives;

[0030] Figure 3 is a schematic diagram of the fuselage shell of the multimodal robot adapted to various terrains according to this application;

[0031] Figure 4 is a structural schematic diagram of the connector of the multi-modal robot adapted to various terrains according to this application;

[0032] Figure 5 is a structural perspective view of the connector of the multi-modal robot adapted to various terrains according to this application;

[0033] Figure 6 is a schematic diagram of the foot structure of the multimodal robot adapted to various terrains according to this application.

[0034] Reference numerals: First fuselage shell 110, first foot joint 111, first main body joint 112, first recess 113, head 114, second fuselage shell 120, second foot joint 121, second main body joint 122, second recess 123, main body software driver 210, first foot software driver 310, second foot software driver 320, first foot 410, first foot joint 411, first foot pad 412, first foot Connector 413, second foot 420, second foot joint 421, second foot pad 422, second foot connector 423, connecting part 430, first foot connector 510, second foot connector 520, first main body connector 530, second main body connector 540, base 550, side wall 551, fitting part 560, first semi-circular fitting part 561, second semi-circular fitting part 562, air nozzle 570, hollow part 580, groove 610, gap h. Detailed Implementation

[0035] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, top, bottom, top, bottom, etc., are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0036] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0037] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0038] The present application will be further described below with reference to the accompanying drawings and specific embodiments. It is worth understanding that the following description is merely illustrative and not intended to limit the scope of the present application.

[0039] As shown in Figures 1 and 2, the multi-terrain adaptable multimodal robot of this application includes: a first body shell 110, the top of which is provided with a first foot joint 111, the first foot joint 111 being configured to engage with a first foot connector 510, the first foot connector 510 being configured to connect an air tube and a first foot soft actuator 310 to communicate the air tube and the first foot soft actuator 310; and a first body joint 112 is provided on one side of the bottom of the first body shell 110, the first body joint 112 being configured to connect with a first body. The first main body connector 530 is configured to connect the air tube and the main body soft actuator 210 to communicate the air tube and the main body soft actuator 210; the second body housing 120 has a second foot engagement portion 121 on its top, which is configured to engage with the second foot connector 520, which is configured to connect the air tube and the second foot soft actuator 320 to communicate the air tube and the second foot soft actuator 320; and a second main body engagement portion 122 is provided on one side of the bottom of the second body housing 120. The second main body joint 122 is configured to engage with the second main body connector 540, which is configured to connect to the main body software actuator 210. The main body software actuator 210 is configured to extend when inflated and retract when deflated to drive the robot to move. The first foot software actuator 310 is configured to extend when inflated to extend the first foot 410 and retract when deflated to retract the first foot 410. The second foot software actuator 320 is configured to extend when inflated to extend the second foot 420 and retract when deflated to retract the second foot 420. The first foot 410 includes a first foot engagement 411 and a first foot pad 412, wherein the first foot engagement 411 is configured to engage with a first foot connector 413, and the first foot connector 413 is configured to connect with a first foot software driver 310; and the second foot 420 includes a second foot engagement 421 and a second foot pad 422, wherein the second foot engagement 421 is configured to engage with a second foot connector 423, and the second foot connector 423 is configured to connect with a second foot software driver 320.

[0040] The multimodal robot adapted to various terrains involved in this application has multiple operating modes and forms. It can not only achieve linear and curvilinear movement, but also move in complex terrains such as sand, slopes, and steps. It has a certain degree of self-adjustment ability and can adapt well to different working environments and tasks.

[0041] Furthermore, as shown in Figures 1 and 2, in one embodiment of this application, the main body soft actuator 210 may include at least two corrugated tubes arranged in parallel, with the ends of the two corrugated tubes connected to the first main body connector 530 and the second main body connector 540, respectively. When the two corrugated tubes are inflated, the main body soft actuator 210 extends; when the two corrugated tubes are deflated, the main body soft actuator 210 contracts; when one of the two corrugated tubes is inflated while the other is deflated, the main body soft actuator 210 bends. These two corrugated tubes enable the multimodal robot of this application to flexibly and rapidly perform curvilinear motion and lateral movement (a snake-like movement). In addition, the first foot soft actuator 310 includes at least one corrugated tube, and the second foot soft actuator 320 also includes at least one corrugated tube. The ends of the corrugated tubes of the first foot soft actuator 310 are connected to the first foot connector 510 and the first foot connector 413, respectively. When the bellows of the first foot soft actuator 310 is inflated, the first foot soft actuator 310 extends to extend the first foot 410; when the bellows of the first foot soft actuator 310 is deflated, the first foot soft actuator 310 retracts to retract the first foot 410. Similarly, the ends of the bellows of the second foot soft actuator 320 are connected to the second foot connector 520 and the second foot connector 423, respectively. When the bellows of the second foot soft actuator 320 is inflated, the second foot soft actuator 320 extends to extend the second foot 420; when the bellows of the second foot soft actuator 320 is deflated, the second foot soft actuator 320 retracts to retract the second foot 420. By inflating and deflating the bellows, the corresponding soft actuators can drive the multimodal robot of this application to move on terrains such as sand, slopes, and steps.

[0042] As shown in Figure 3, the first body shell 110 also includes a first recess 113, which is located on both sides of the bottom of the first body shell 110 and configured to accommodate the first foot 410. Furthermore, as shown in Figures 1 and 2, in some embodiments, the first body shell 110 may also include a head 114, located on the opposite side of the bottom of the first body shell 110 from the first main body joint 112. The bottom surface of the head 114 is on the same horizontal plane as the first body shell 110 and is configured to assist climbing, enabling the multimodal robot of this application to climb stairs, for example, stairs with a height twice the robot's own height when the foot soft actuators are fully retracted.

[0043] Similarly, the second fuselage housing 120 also includes a second recess 123 located on both sides of the bottom of the second fuselage housing 120 and configured to receive the second foot 420. Optionally, in some embodiments, a head for assisting climbing may also be configured to be mounted on the opposite side of the bottom of the second fuselage housing 120 opposite to the second body joint 122, and at the same level as the bottom of the second fuselage housing 120.

[0044] Figures 4 and 5 show a schematic diagram and a perspective view of the connector for a multimodal robot according to this application, respectively. The connector is a rotary snap-fit, including a base 550 and double semicircular fitting portions 560 with different radii. The base 550 includes sidewalls 551 with a certain thickness, configured to engage a bellows. The base 550 can be configured to form a sealed connection with the end of the bellows using a hot melt adhesive (e.g., hot melt glue). The double semicircular fitting portions 560 include a first semicircular fitting portion 561 and a second semicircular fitting portion 562, wherein the first semicircular fitting portion 561 is connected to the top end of the base 550. Furthermore, the radius of the first semicircular fitting portion 561 is smaller than the radius of the second semicircular fitting portion 562, and the thickness of the first semicircular fitting portion 561 is greater than the thickness of the second semicircular fitting portion 562, such that a gap h is formed between the second semicircular fitting portion 562 and the base 560.

[0045] Furthermore, as shown in Figures 1 and 5, in one embodiment of this application, the connectors (e.g., the first foot connector 510, the second foot connector 520, and the first body connector 530) may also include an air nozzle 570 extending outward from the top of the first semi-circular fitting portion 561, configured to connect an air pipe connected to an air source (not shown) to provide power. As shown in Figure 5, the hollow air nozzle 570 connects the base 550 and the first semi-circular fitting portion 561, and can extend outward from the bottom surface of the base 550 and the top of the first semi-circular fitting portion 561, respectively, to provide power to the corresponding soft actuator. Conversely, as shown in Figures 4 and 5, the first foot connector, the second foot connector, and the second body connector 540 may be rotary snap fasteners excluding the aforementioned air nozzles, serving as connectors providing connection and fixation functions. Additionally, as shown in Figures 1 and 2, the double semi-circular fitting portions 560 of the connectors are configured to pass through the hollow portions 580 of the corresponding joints and are rotatably engaged with the corresponding joints.

[0046] The aforementioned rotary snap-fit ​​(connector) design allows for the rapid installation and disassembly of the various parts of the multimodal robot of this application. When any part of the robot malfunctions or is damaged, the corresponding component can be quickly repaired. It offers advantages such as simple installation, high replaceability, and high maintainability, effectively improving work efficiency.

[0047] As shown in Figure 2, in one embodiment of this application, the first foot joint 111 includes at least one double semi-circular hollow portion 580 with different radii, the second foot joint 121 includes at least one double semi-circular hollow portion 580 with different radii, and the first main body joint 112 and the second main body joint 122 each include at least two double semi-circular hollow portions 580 with different radii (see Figure 3). These double semi-circular hollow portions 580 are configured to cooperate with the double semi-circular fitting portion 580 of the connector, thereby fixing the corresponding connector.

[0048] Similarly, as shown in Figures 6 and 2, the top of the first foot joint 411 and the top of the second foot joint 421 are respectively provided with double semi-circular hollow portions 580 of different radii, configured to mate with the double semi-circular fitting portions 580 of the corresponding connectors, thereby fixing the corresponding connectors. Furthermore, the bottom of the first foot joint 411 and the bottom sides of the second foot joint 421 are respectively provided with protruding connecting portions 430. These protruding connecting portions 430 connect with the corresponding foot pad portions (e.g., the first foot pad portion 412 and the second foot pad portion 422), creating a gap between the foot joint and the foot pad portion. These foot pad portions are made of PLA material, and the bottom surface of the foot pad portion has a groove 610 configured to accommodate silicone material.

[0049] In one embodiment of this application, the first fuselage shell 110, the second fuselage shell 120, the connectors 413, 423, 510, 520, 530, 540, the first foot joint 411, and the second foot joint 421 are all made of PLA material and are manufactured by 3D printing.

[0050] Generally, compared to PLA, silicone has a higher coefficient of friction, enabling the multimodal robot of this application to be configured with a foot structure exhibiting bidirectional tribotropic friction. This allows for a difference in friction between the robot's front and rear ends during movement, thereby enabling forward or backward motion. In one embodiment, the multimodal robot of this application can be configured for linear motion. When the multimodal robot moves forward, the first foot soft actuator 310 is controlled to extend so that the first foot pad 412 of the first foot 410, which needs to be fixed, contacts the ground (i.e., basically silicone material contacts the ground). The second foot soft actuator 320 is controlled to retract to retract the second foot 420, so that the bottom of the second body shell 120 contacts the ground (i.e., basically PLA material contacts the ground), thus creating a difference in friction between the front and rear ends. Then, the main body soft actuator 210 is controlled to extend to move the front end of the robot forward. Next, the second foot soft actuator 320 is controlled to extend so that the second foot pad 422 of the second foot 420 contacts the ground (i.e., basically silicone material contacts the ground) to form a fixed end. Then, the first foot soft actuator 310 is controlled to retract to retract the first foot 410, so that the bottom of the first body shell 110 contacts the ground (i.e., basically PLA material contacts the ground), again creating a difference in friction between the front and rear ends. Finally, the main body soft actuator 210 is controlled to retract to retract the rear end of the robot, thereby enabling the robot to move forward; the reverse is also true for moving backward.

[0051] In some embodiments, the multimodal robot of this application can be configured with a curvilinear motion mode. When the multimodal robot turns, the air pressure of the two bellows in the control body software actuator 210 causes a difference in the elongation between the two bellows, thereby allowing the robot to turn towards the shorter side of the two bellows, thus achieving curvilinear motion.

[0052] In addition, the bidirectional frictional anisotropic foot structure of the multimodal robot provided in this application enables the robot to move on complex terrains such as slopes, pebbles, and sponges.

[0053] In some embodiments, based on the protruding head of the multimodal robot provided in this application, the robot is capable of climbing steps with a height twice the height of the multimodal robot itself when the foot soft actuators are fully retracted (e.g., up to 20 cm). In some embodiments, the multimodal robot of this application can be configured with a step-climbing mode. When the multimodal robot climbs a step, the main body soft actuator 210 is in a retracted state, controlling the first foot soft actuator 310 and the second foot soft actuator 320 to raise the head above the step to be climbed. At this time, both the first foot pad 412 and the second foot pad 422 are in contact with the ground. The main body soft actuator 210 is then extended so that the head can contact the step surface, and the first foot soft actuator 310 is retracted to retract the first foot 410. Then, the main body soft actuator 210 continues to extend so that the first body shell 110 or the front end of the robot is completely on the step surface, and the first foot soft actuator 310 continues to extend so that the first foot pad 412 of the first foot 410 can completely contact the step surface. The main body soft actuator 210 is then retracted to retract the second body shell 120 or the robot's front end. The robot's rear end, up to the bottom of the second body shell 120, can contact the step surface. At this time, the second foot 420 is close to the side of the step. Then, control the second foot soft actuator 320 to retract the second foot 420, so that the bottom of the second body shell 120 contacts the step surface. Then, control the main body soft actuator 210 to extend so that the first body shell 110 or the front end of the robot moves forward. Next, control the first foot soft actuator 310 to extend so that the first foot pad 412 of the first foot 410 contacts the step surface. Then, control the second foot soft actuator 320 to retract completely to retract the second foot 420. Finally, control the main body soft actuator 210 to retract until the second body shell 120 or the rear end of the robot is completely on the step surface. At this time, the robot has completed the climbing operation and is completely on the step.

[0054] In some embodiments, the multimodal robot of this application can be configured to move on soft or low-friction terrain (e.g., sand) in a lateral movement mode mimicking that of a snake. When the multimodal robot moves on sand, the first foot soft actuator 310 and the second foot soft actuator 320 are fully retracted to fold up the first foot 410 and the second foot 420. Then, by controlling the air pressure in the two bellows of the main body soft actuator 210, the two bellows are sequentially inflated and deflated, forming alternating ripples of crests and troughs. Each crest contacts the ground in sequence, thereby propelling the robot forward. This snake-like lateral movement reduces the contact area between the robot and the sand, thereby reducing friction and drag, enabling the robot to move quickly on soft terrain.

[0055] In some embodiments, the multimodal robot of this application has fall self-adjustment capability. When traditional pneumatic soft robots move on complex terrain, side roll or fall is inevitable. However, when the multimodal robot of this application rolls over, it can be configured to fall adaptive mode to achieve fall self-adjustment, including the following steps: (1) control all soft actuators so that all bellows are in a retracted state, and then control the first foot soft actuator 310 and the second foot soft actuator 320 to extend to their longest length; (2) then control the bellows of the two bellows of the main soft actuator 210 that are close to or in contact with the ground to extend while the other bellows retracts, until the extended bellows form a C-shape or U-shape and support the robot at a certain angle or height through its fulcrum in contact with the ground; (3) finally control the first foot soft actuator 310 and the second foot soft actuator 320 to retract until the foot pads of the first foot 410 and the second foot 420 are in complete contact with the ground, at which point the robot has completed the fall self-adjustment operation.

[0056] Obviously, the embodiments described above are only some embodiments of this application and are not intended to limit the scope of the claims of this application. For those skilled in the art, any modifications, equivalent substitutions, and improvements made without departing from the spirit and purpose of this application are also considered to be within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A multimodal robot adaptable to various terrains, comprising: The first body shell has a first foot joint on the top, which is configured to engage with a first foot connector. The first foot connector is configured to connect an air tube and a first foot soft actuator. The bottom side of the first body shell has a first main body joint, which is configured to engage with a first main body connector. The first main body connector is configured to connect an air tube and a main body soft actuator. The second fuselage has a second foot engagement portion on the top, which is configured to engage with a second foot connector. The second foot connector is configured to connect the air tube and the second foot soft actuator. The second fuselage has a second main body engagement portion on one side of the bottom, which is configured to engage with a second main body connector. The second main body connector is configured to connect with a main body soft actuator. The main body software actuator is configured to extend when inflated and retract when deflated to drive the multimodal robot to move. The first foot soft actuator is configured to extend to extend the first foot when inflated and retract to retract the first foot when deflated. The second foot soft actuator is configured to extend when inflated to extend the second foot and retract when deflated to retract the second foot. A first foot includes a first foot engagement portion and a first foot pad portion, the first foot engagement portion being configured to engage with a first foot connector, and the first foot connector being configured to connect to a first foot software driver. The second foot includes a second foot engagement portion and a second foot pad portion, the second foot engagement portion being configured to engage with a second foot connector, and the second foot connector being configured to connect to a second foot software driver.

2. The multi-modal robot of claim 1, wherein, The main body soft actuator includes at least two corrugated tubes arranged in parallel, the ends of which are respectively connected to corresponding main body connectors. The main body soft actuator is configured to extend when the at least two corrugated tubes are inflated and retract when the at least two corrugated tubes are deflated. The main body soft actuator is also configured to bend when one of the at least two corrugated tubes is inflated and the other is deflated. The first foot soft actuator and the second foot soft actuator each include at least one corrugated tube, the ends of which are respectively connected to corresponding foot connectors and corresponding foot joints. The foot soft actuator is configured to extend when the corresponding at least one corrugated tube is inflated and retract when the corresponding at least one corrugated tube is deflated.

3. The multi-modal robot of claim 1, wherein, The connector is a rotary snap fastener, including a base and double semi-circular fitting parts with different radii. The double semi-circular fitting parts include a first semi-circular fitting part and a second semi-circular fitting part. The first semi-circular fitting part is connected to the base. The radius of the first semi-circular fitting part is smaller than the radius of the second semi-circular fitting part. The thickness of the first semi-circular fitting part is greater than the thickness of the second semi-circular fitting part, so that a gap is formed between the second semi-circular fitting part and the base. The base is configured to be sealed to the end of the bellows in the soft driver by a hot melt adhesive.

4. The multi-modal robot of claim 3, wherein, The first foot connector, the second foot connector, and the first main body connector also include an air nozzle extending outward from the first semi-circular fitting portion, configured to connect to an air tube.

5. The multi-modal robot of claim 3, wherein, The first foot joint and the second foot joint each include double semi-circular hollow portions with different radii, and the first body joint and the second body joint each include two double semi-circular hollow portions with different radii. The double semi-circular hollow portions are configured to cooperate with the double semi-circular fitting portions of the connector to fix the corresponding connector.

6. The multi-modal robot of claim 3, wherein, The top of the foot joint is provided with double semi-circular hollow parts of different radii. The double semi-circular hollow parts are configured to cooperate with the double semi-circular fitting parts of the connector to fix the corresponding connector. The bottom sides of the foot joint are provided with protruding connecting parts, which are connected to the foot pad.

7. The multi-modal robot of claim 5 or 6, wherein, The double semicircular hollow portion includes a first semicircular hollow portion and a second semicircular hollow portion, wherein the radius of the first semicircular fitting portion is smaller than the radius of the second semicircular fitting portion.

8. The multi-modal robot of claim 1, wherein, The foot pad is made of PLA material, and its bottom surface has a groove configured to accommodate silicone material, which has a higher coefficient of friction than PLA material.

9. The multi-modal robot of claim 1, wherein, The outer casing, the connectors, and the foot joints are made of PLA material and are manufactured by 3D printing.

10. The multi-modal robot of claim 1, wherein, The bottom of the first body shell has a first recess on both sides, configured to accommodate the first foot, and the bottom of the first body shell has a protruding head on the other side opposite to the first main body joint, configured to assist climbing; the bottom of the second body shell has a second recess on both sides, configured to accommodate the second foot.

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