Harnessing bistability for directional propulsion of soft, untethered robots.

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.

authors

Chen T,Bilal OR,Shea K,Daraio C

doi

10.1073/pnas.1800386115

subject

Has Abstract

pub_date

2018-05-29 00:00:00

pages

5698-5702

issue

22

eissn

0027-8424

issn

1091-6490

pii

1800386115

journal_volume

115

pub_type

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