Compared to standard solutions, soft robotics presents enhanced adaptability to unpredictable and unstructured environments, encompassing advances in fabrication, modeling, and control. The absence of a general theory for the latter is one of the biggest challenges in the field, which constrains these robots’ employment in real-world applications. This research proposes the application of Scheduling by Multiple Edge Reversal (SMER) in the activation of soft legs to be applied in multi-legged robots. A soft device was developed to be tested as a robot’s leg to evaluate the proposed application. A logic controller for this device was designed using the SMER technique. Image processing techniques were used to assess the functionality of the proposed strategy, which demands limited resources. The vision tracking system is composed of a set of infrared-reflective patches, an infrared illuminator, and a pair of cameras with no infrared filters. Results revealed that it is possible to use SMER techniques to activate soft robotics systems and that the methods employed to develop and test the device were appropriate.

与标准解决方案相比，软机器人在不可预测和非结构化环境中的适应性得到了增强，涵盖了制造，建模和控制方面的进步。后者缺乏通用理论是该领域最大的挑战之一，这限制了这些机器人在现实世界中的应用。本研究提出了多边反向调度（SMER）在多腿机器人软腿激活中的应用。开发了一种软设备，将其作为机器人的腿进行测试，以评估所提出的应用程序。使用SMER技术设计了该设备的逻辑控制器。图像处理技术用于评估所提出策略的功能，这需要有限的资源。视觉跟踪系统由一组红外反射贴片，一个红外照明器和一对不带红外滤光镜的摄像机组成。结果表明，可以使用SMER技术来激活软机器人系统，并且用于开发和测试设备的方法是合适的。