---
publication_id: "OT-2026-000001389"
title: "Multiple Actuator Control on a Soft Everting Robot"
published_at: "2026-09-15T19:05:32.430763Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001389"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j18/06"
  - "b25j9/10"
  - "b25j9/10"
  - "b25j9/10"
---

# Multiple Actuator Control on a Soft Everting Robot

## Abstract

An independent control method of actuators in for example an everting robot or a soft everting robot is provided. The robot has distributed thereto or therewith multiple actuators which steer the robot. Energy is supplied from a single energy line to each of the multiple actuators. This energy enables force and displacement for each of the multiple actuators. Energy from the single energy line to each of the multiple actuators is controlled by a single control line. The single energy line and the single control line can be pneumatic sources or electric sources. The method allows for controlling greater than two actuators with at most two supply lines instead of one supply line per actuator. Reduction of the number of supply lines and complexity of subsystems provides numerous advantages in terms of cost, size, stiffness, friction, amount of material used, ease for tip mounts as well as mobility.