  The one-to-one mapping of control inputs to actuator outputs results in
elaborate routing architectures that limit how complex fluidic soft robot
behaviours can currently become. Embodied intelligence can be used as a tool to
counteract this phenomenon. Control functionality can be embedded directly into
actuators by leveraging the characteristics of fluid flow phenomena. Whilst
prior soft robotics work has focused exclusively on actuators operating in a
state of transient/no flow (constant pressure), or pulsatile/alternating flow,
our work begins to explore the possibilities granted by operating in the
closed-loop flow recirculation regime. Here we introduce the concept of
FlowBots: soft robots that utilise the characteristics of continuous fluid flow
to enable the embodiment of complex control functionality directly into the
structure of the robot. FlowBots have robust, integrated, no-moving-part
control systems, and these architectures enable: monolithic additive
manufacturing methods, rapid prototyping, greater sustainability, and an
expansive range of applications. Based on three FlowBot examples: a
bidirectional actuator, a gripper, and a quadruped swimmer - we demonstrate how
the characteristics of flow recirculation contribute to simplifications in
fluidic analogue control architectures. We conclude by outlining our design and
rapid prototyping methodology to empower others in the field to explore this
new, emerging design field, and design their own FlowBots.
