  The ignition of flammable liquids and gases in offshore oil and gas
environments is a major risk and can cause loss of life, serious injury, and
significant damage to infrastructure. Power supplies that are used to provide
regulated voltages to drive motors, relays, and power electronic controls can
produce heat and cause sparks. As a result, the European Union requires ATEX
certification on electrical equipment to ensure safety in such extreme
environments. Implementing designs that meet this standard is time-consuming
and adds to the cost of operations. Soft robots are often made with soft
materials and can be actuated pneumatically, without electronics, making these
systems inherently compliant with this directive. In this paper, we aim to
increase the capability of new soft robotic systems moving from a one-to-one
control-actuator architecture and implementing an electronics-free control
system. We have developed a robot that demonstrates locomotion and gripping
using three-pneumatic lines: a vacuum power line, a control input, and a clock
line. We have followed the design principles of digital electronics and
demonstrated an integrated fluidic circuit with eleven, fully integrated
fluidic switches and six actuators. We have realized the basic building blocks
of logical operation into combinational logic and memory using our fluidic
switches to create a two-state automata machine. This system expands on the
state of the art increasing the complexity over existing soft systems with
integrated control.
