This repository provides the software for this Controlboard or a similar device. Pneumatically operated soft robots can be controlled with the ControlBoard. The code to be found here is specially tailored to the gecko-inspired soft robot - codenamed Geckobot as seen in the image below. CAD data to build the robot can be found here. But in principle, all similar robots can also be operated with it.

The following motion picture shows the walking performance of the robot when running straight. The whole video can be found here.

Using video analysis, the track of the robots feet can be obtained. With the kinematic model (stated below) the best fitting pose is calculated for each frame of one walking cycle. The motion picture below shows the result.

A kinematic model of the robot that is capable of predicting how the robot will deform under a given pressure can be found here. With the help of this model, new gait patterns can be tested much more easily. The following figure shows the output of the model for the gait pattern of a curve.

The Picture below shows the Soft- and Hardware Architecture of the GeckoBot System.