Development and Analysis of Key Components of a Multi Motion Mode Soft-Bodied Pipe Robot
Round 1
Reviewer 1 Report
see attached manuscript with annotations.
Comments for author File: 
Comments.pdf
Author Response
Please see the attachment.
Author Response File: Author Response.pdf
Reviewer 2 Report
This paper is interesting and instructive to other researchers. Before publishing, I have some comments.
- The authors should emphasize the importance of using pneumatic systems. There are many actuating methods, like hydraulic or electro-hydraulic methods. They should mention these kinds of methods.
Kellaris, N., Gopaluni Venkata, V., Smith, G. M., Mitchell, S. K., & Keplinger, C. (2018). Peano-HASEL actuators: Muscle-mimetic, electrohydraulic transducers that linearly contract on activation. Science Robotics, 3(14), eaar3276.
Takeshi Iizuka, and Shingo Maeda. "Bidirectional electrohydrodynamic pump with high symmetrical performance and its application to a tube actuator." Sensors and Actuators A: Physical 332 (2021): 113168.
- 1 is not the structural design. Instead, it is principal design.
- For the motion, only one or two prisms are enough for your design. I do not know why you need six? and, in the demonstration, the authors only use two prisms for the motion.
- Chinese characters appear in Figure. 7. In the title, what is the meaning of soft-bodied-boided ?
- In fig. 8 and fig.13, what is the meaning of comparison between two theoretical parts?
- This paper should be arranged carefully again and English should be checked by native speakers. Otherwise, it is hard to understand.
Author Response
Please see the attachment.
Author Response File: Author Response.pdf
Round 2
Reviewer 2 Report
The authors addressed my questions carefully.
