乌龟在陆地上以对角步态方式向前移动。 BionicTurtleWalker 与之类似，充入压缩空气后，同时下压呈对角线分布的腿，达到向前移动的目的——与其来自自然界的原型相似。 BionicTurtleWalker 的核心部件是一个气动逻辑模块，由来自弗莱堡大学的卓越团队“生态、自适应和能量自给材料系统 (livMatS)”开发。

气动逻辑模块

仿生龟机器人的这个“控制中心”负责完成气动系统中通常由阀和电气控制系统执行的任务。 它不但能精确控制四条支腿的运动，而且只需通过一根气管连接外部就能供应压缩空气。

与传统系统相比，气动逻辑模块具有多项优势。 它由两个阀室构成，可以进行布尔运算。

此外，设计结构决定了气动逻辑模块可以直接使用柔性材料进行增材制造，并在低气动压力下运行，从而显著降低生产成本、系统复杂性和运行成本。

Flexible yet robust material

Everything,from the armour to the pneumatic logic module to the legs of the BionicTurtleWalker, is 3D printed and made of thermoplastic polyurethane (TPU). This material combines the properties of rubber and polymer, making it durable, flexible and yet robust. As a result, the logic module can withstand up to 900 kg of surface loads.

This allows it to deform and then return to its original state. What’s more, the TPU can be melted down and reused, in keeping with the concept of the circular economy.

Outlook and potential

The technology of pneumatic logic modules made from TPU is also suitable, for example, for applications where people and robots work together. By combining several modules, it was possible to produce pneumatic control elements for pneumatic soft robots that can have any number of degrees of freedom.

This results in numerous application areas. One module alone can control the opening and closing of a pneumatic gripper, for example. For more complex applications, modules can be combined and produced as a single block or integrated directly into soft robots.

Part of the Incredible Machine

The BionicTurtleWalker is part of the Incredible Machine,the anniversary exhibit celebrating 100 years of Festo. It works on the principle of a Rube Goldberg machine, in which one movement triggers the next. The Incredible Machine demonstrates the history of automation technology from the past to the present and reflects our wide range of competencies and our comprehensive expertise.