Abstract
Localisation is important for robots to complete their tasks accurately, and can be determined using Inertial Measurement Units (IMUs). As there are no fully soft IMUs, Soft Robots have to rely on rigid IMUs which are separate components added to the Soft Robot. Additional components may result in problems like loose connections. This thesis explores the possibility of 3D printing a soft IMU that integrates better with a Soft Robot body. Motion of the Soft Robot can be determined by measuring acceleration, which is tracked using Computer Vision. It is shown that the Soft IMU developed can work as well as a commercially-available IMU. The integration of fabrication of the Soft IMU with the Soft Robot body and the novel approach to measure acceleration offers a glimpse into the vast potential yet unlocked