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Abstract
Soft robotics, a growing field in the robotics industry, has the unique advantage of gentle interactions with the environment. Pneumatics, commonly used in soft robots, enables precise
control using air or other fluids. However, A major limitation of pneumatic soft robots is the
requirement for multiple tethered controls. This study introduces a novel crawler design
employing only a single pneumatic channel to improve the simplicity of a pneumatic robot.
Through actuation and strain-limiting layers, the robot mimics inchworm motion, and minute
changes in these layers offer versatile locomotion techniques. Fiber Bragg grating sensors,
secured along the seam of the robot, analyze robot bending, revealing asymmetrical inflation
patterns along its cycle. This design showcases an efficient, single-nozzle pneumatically actuated
crawler, achieving locomotion via horizontal axis asymmetry.