磁驱动自走式软体虫机器人，可快速爬行与游泳。
An Amphibious Untethered Inchworm Soft Robot for Fast Crawling Locomotion
- 磁力驱动+柔性结构，实现无缆自主运动。
- 最高速度达3.74厘米/秒，可游泳0.82厘米/秒。
- 集成摄像头与控制电路，适合复杂环境任务。
无缆软体机器人对于推动软体机器人在多样化、多任务环境中的实际应用至关重要。受软体毛毛虫启发，我们提出一种全无缆软体机器人，采用弯曲柔韧结构，由磁力驱动。该机器人总质量为102.63克，具备多模态运动能力，最大步行速度达3.74厘米/秒，游泳速度达0.82厘米/秒。其紧凑轻量的嵌入式控制电路支持无线指令传输，集成摄像头实现环境感知。通过结构优化与系统级集成，机器人可在无需外部基础设施的情况下完成行走、转向、游泳及载物运输。其动态性能与运动能力通过实验表征系统验证。
原文摘要 · Abstract (English)
Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved, flexible structure actuated by magnetic forces. The robot has a total mass of 102.63 g and demonstrates multimodal locomotion, achieving a maximum walking speed of 3.74 cm/s and a swimming speed of 0.82 cm/s. A compact and lightweight onboard control circuit enables wireless command transmission, while an integrated camera provides environmental perception. Through structural optimization and system-level integration, the robot successfully performs walking, steering, swimming, and payload transport without reliance on external infrastructure. The robot's dynamic performance and locomotion capabilities are systematically validated through experimental characterization.
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