Abstract: Expandable actuators surround a central conduit. Each actuator comprises a bladder that, when fluid is introduced, expands laterally while contracting longitudinally. A restorative spring can be placed inside a bladder and between the two ends to restore the actuator to its original shape as fluid is withdrawn. Multiple actuators can be placed in series to successively inflate and deflate and generate a peristaltic motion. One or more Shape Memory Alloy (SMA) springs can be affixed to one or more restorative springs to cause bending motion.

Abstract: Expandable actuators surround a central conduit. Each actuator comprises a bladder that, when fluid is introduced, expands laterally while contracting longitudinally. A restorative spring can be placed inside a bladder and between the two ends to restore the actuator to its original shape as fluid is withdrawn. Multiple actuators can be placed in series to successively inflate and deflate and generate a peristaltic motion. One or more Shape Memory Alloy (SMA) springs can be affixed to one or more restorative springs to cause bending motion.

Abstract: A system for achieving ambulatory control of a multi-legged system employs stimulus and response-based modeling. A adapted neural network-based system is employed for dictating motion characteristics of a plurality of leg members. Rhythmic movements necessary to accomplish motion are provided by a series of signal generators. A first signal generator functions as a pacemaker governing overall system characteristics. One or more axis control signals are provided to a plurality of leg controllers, which axis control signals work in concert with a system coordination signal from the pacemaker. A sensory mechanism is also employed to govern ambulatory system responses.