可折叠软电磁机器人实现9种运动模式，高效穿越狭窄生物环境。
A Foldable and Agile Soft Electromagnetic Robot for Multimodal Navigation in Confined and Unstructured Environments
- 六辐条弹性结构嵌入液态金属通道，利用洛伦兹力驱动
- 0.35秒内快速切换模式，最高滚动速度达818毫米/秒
- 体积缩小79%可穿行狭窄空间，适合微创医疗应用
在复杂非结构化环境中，多模态运动对动物适应性至关重要。类似地，在充满粘弹性黏液、复杂皱襞和狭窄括约肌（如贲门）的人体胃肠道中，小型软体机器人也需具备多模态运动能力以完成任务。本文提出一种小型紧凑、可折叠且坚固的软电磁机器人（M-SEMR），具备九种以上运动模式。该机器人采用六辐条弹性体结构，内部嵌入液态金属通道，在静态磁场下通过洛伦兹力驱动，可在0.35秒内实现不同运动模式间的快速转换。其表现出卓越机动性，包括高速滚动（818毫米/秒，26体长/秒）、全向爬行、跳跃和游泳。值得注意的是，该机器人可折叠，体积减少79%，从而能够通过狭小空间。我们在离散障碍物、粘弹性明胶表面、黏稠流体及模拟生物组织等复杂地形上验证了其导航能力。该系统为未来生物医学应用中高机动性软机器人的开发提供了通用策略。
原文摘要 · Abstract (English)
Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and narrow sphincters like the cardia, multimodal locomotion is also essential for a small-scale soft robot to conduct tasks. Here, we introduce a small-scale compact, foldable, and robust soft electromagnetic robot (M-SEMR) with more than nine locomotion modes designed for such a scenario. Featuring a six-spoke elastomer body embedded with liquid metal channels and driven by Laplace forces under a static magnetic field, the M-SEMR is capable of rapid transitions (< 0.35 s) among different locomotion modes. It achieves exceptional agility, including high-speed rolling (818 mm/s, 26 BL/s), omnidirectional crawling, jumping, and swimming. Notably, the robot can fold to reduce its volume by 79%, enabling it to traverse confined spaces. We further validate its navigation capabilities on complex terrains, including discrete obstacles, viscoelastic gelatin surfaces, viscous fluids, and simulated biological tissues. This system offers a versatile strategy for developing high-mobility soft robots for future biomedical applications.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。