Figure 5. Verification on a quadruped robot fabricated by four Triple bellows. a The quadruped robot walks forward by sequentially inflating three groups of chambers. b Structure of the quadruped robot. c The quadruped robot walks on a floorboard of 900 mm in length. The graph records the crawling states at 0, 20, 40, and 63 s (the earliest time to arrive at the destination) with different \(p_{high}\), where \(p_{low}\) = 10 kPa, \(\Delta p\)=10 kPa. d Step frequency of the quadruped robot. e Energy consumption per step. f Crawling velocity and steplength.