---
publication_id: "OT-2026-000001077"
title: "Soft pneumatic hexapedal robot, and uses thereof"
published_at: "2026-09-15T19:03:50.317062Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001077"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/144"
  - "b25j9/144"
  - "b62d57/02"
  - "b25j18/06"
  - "b25j18/06"
  - "b25j18/06"
---

# Soft pneumatic hexapedal robot, and uses thereof

## Abstract

This disclosure relates to apparatus a multi-legged robot including at least one pair of actuators. Each actuator includes a pliable body. The pliable body includes a first portion having a first chamber, a second portion having a second chamber, where the second portion coupled to a distal end of the first portion. The pliable body includes a first inlet coupled to the first chamber, where the first portion is configured to bend upon receiving a first fluid via the first inlet and a second inlet coupled to the second chamber, where the second portion is configured to extend upon receiving a second fluid via the second inlet. The multi-legged robot includes a frame coupled to a proximate end of the first portion of each actuator.