设计了一种气压驱动多气囊软体机器人，其由上方多个相互连通的气囊和位于下方的双层底座及前、后摩擦片组成。气囊充气膨胀，驱使软体机器人产生弯曲，通过设置不同的前、后摩擦片，利用前后摩擦力大小不同，分析了机器人周期性运动过程。采用Yeoh模型，研究了机器人运动过程中的非线性力学特性，得出软体机器人内部充气压强与前进距离之间的非线性关系模型。设计充、放气时间，验证了软体机器人的周期性运动过程。

A multi-airbag air-driven soft robot is designed,which consists of several connected airbags and a two-layer base with a front frictional foot and a back one. The robot will bend when the airbags are inflated. With the different friction forces,the cyclical movement is analyzed. With the Yeoh model,the nonlinear dynamics analysis of the moving process is finished and the nonlinear relationship between the pressure inside the airbags and the forward distance of the soft robot is obtained. The inflating and deflating time is designed and an experiment is shown to verify the cyclical movement of the soft robot.