YouTuber soiboi soft upgraded his robot modelled after a salamander. The project is bio-inspired, copying designs and behaviors from the amphibian. The robot uses soft actuators and rolling diaphragms, making it flexible and allowing for clean and natural movements. The diaphragm pumps and solenoid valves controlled by an Arduino make up the electrofluidic system.
The legs are inspired by CT scans of real salamander limbs. Soft parts are created using silicone molds, combined with added internal structures to mimic real anatomy. Syringes and zip ties are used to attach the leg components to the fluid channels. The project develops a circular gait for walking. The creator integrated the leg system with a flexible spine that moves using a standing wave from a previous project. Spine parts were built using silicone and micro-tunnels to carry air and maintain flexibility. An undulation function was used to repeat movement between two shapes, matching the gait of an actual salamander.
The assembly included 3D-printed PLA for hard parts, silicone for the soft ones, stainless steel tubes for air paths, and nylon zip ties for binding. The robot can move both forward and backward. Steering is achieved by making the robot lean towards the desired direction. The robot is controlled using a Wii Nunchuk. Finding the initial build cluttered, the creator replaced many air tubes with a 3D-printed manifold. The vision is to create a robot that’s completely untethered, with a brain powered only by air.
