Abstract:
:In most macroscale robotic systems, propulsion and controls are enabled through a physical tether or complex onboard electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while onboard controls and power supplies are heavy and complicate the design process. Here, we present a simple design principle for an untethered, soft swimming robot with preprogrammed, directional propulsion without a battery or onboard electronics. Locomotion is achieved by using actuators that harness the large displacements of bistable elements triggered by surrounding temperature changes. Powered by shape memory polymer (SMP) muscles, the bistable elements in turn actuate the robot's fins. Our robots are fabricated using a commercially available 3D printer in a single print. As a proof of concept, we show the ability to program a vessel, which can autonomously deliver a cargo and navigate back to the deployment point.
journal_name
Proc Natl Acad Sci U S Aauthors
Chen T,Bilal OR,Shea K,Daraio Cdoi
10.1073/pnas.1800386115subject
Has Abstractpub_date
2018-05-29 00:00:00pages
5698-5702issue
22eissn
0027-8424issn
1091-6490pii
1800386115journal_volume
115pub_type
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