A vacuum-actuated soft robot inspired by Drosophila larvae to study kinetics of crawling behaviour
Fig 6
Testing suitable parameter configurations in the PWM control.
(A) Schematic for the fast PWM mode. The level of OCRnA and OCRnB was set to control the frequency and duty cycle of the PWM signal, respectively. OCRnA was set to 249 to ensure a frequency of 1000 Hz. (B) Deformation of single segments with distinct duty cycles set by OCRnB.