Kirigami Makes a Soft Magnetic Sheet Crawl
OPEN ACCESS
Loading...
Author / Producer
Date
2023-09-05
Publication Type
Journal Article
ETH Bibliography
yes
Citations
Altmetric
OPEN ACCESS
Data
Rights / License
Abstract
Limbless crawling on land requires breaking symmetry of the friction with the ground and exploiting an actuation mechanism to generate propulsive forces. Here, kirigami cuts are introduced into a soft magnetic sheet that allow to achieve effective crawling of untethered soft robots upon application of a rotating magnetic field. Bidirectional locomotion is achieved under clockwise and counterclockwise rotating magnetic fields with distinct locomotion patterns and crawling speed in forward and backward propulsions. The crawling and deformation profiles of the robot are experimentally characterized and combined with detailed multiphysics numerical simulations to extract locomotion mechanisms in both directions. It is shown that by changing the shape of the cuts and orientation of the magnet the robot can be steered, and if combined with translational motion of the magnet, complex crawling paths are programed. The proposed magnetic kirigami robot offers a simple approach to developing untethered soft robots with programmable motion.
Permanent link
Publication status
published
External links
Editor
Book title
Journal / series
Volume
10 (25)
Pages / Article No.
2301895
Publisher
Wiley-VCH
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
crawling; kirigami; locomotion; magnetic soft composites; soft robotics
Organisational unit
03831 - Studart, André R. / Studart, André R.