Harnessing bistability for directional propulsion of soft, untethered robots
Open accessAbstract
Significance: A major challenge in soft robotics is the integration of sensing, actuation, control, and propulsion. Here, we propose a material-based approach for designing soft robots. We show an untethered, soft swimming robot, which can complete preprogrammed tasks without the need for electronics, controllers, or power sources on board. To achieve propulsion, we use bistable shape memory polymer muscles connected to paddles that amplify actuation forces. As a proof of principle, we show that these robots can be preprogrammed to follow specific routes or deliver a cargo and navigate back to their deployment point. The proposed design principle can have a broad impact in soft robotics based on programed materials.
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The thermoviscoelastic approach has been applied to soft robotics and actuators, focusing on direct 4D printing, single-material structures, and composite structures.
“The thermoviscoelastic approach has been applied to soft robotics and actuators, e.g., focusing on direct 4D printing [211], single-material structures [215],and composite structures [208,252].”
From Two-Way and Multiple-Way Shape Memory Polymers for Soft Robotics: An Overview (2020) · cites this paper as [252]
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- Authors
- Chen, T., Bilal, O. R., Shea, K., & Daraio, C.
- Affiliations
- ETH Zurich (CH)
- California Institute of Technology (US)
- Venue
- Proceedings of the National Academy of Sciences
- Publisher
- National Academy of Sciences
- Published
- 2018-05-15
- Volume
- 115
- Issue
- 22
- Pages
- 5698-5702
- ISSN
- 0027-8424 (ISSN-L)
- 1091-6490
- PMC
- PMC5984517
- OpenAlex
- W2804340326
- Cited by
- 427
- References
- 38
- Citations by year
- 2026: 32 · 2025: 65 · 2024: 52 · 2023: 57 · 2022: 60 · 2021: 58 · 2020: 64 · 2019: 32 · 2018: 7
- FWCI
- 16.09
- Type
- journal article
- Language
- en
- Open access
- bronze
- doi.org
- Locations
- Proceedings of the National Academy of Sciences (publishedVersion)
- Europe PMC (PubMed Central) (publishedVersion)
- PubMed Central (publishedVersion)
- PubMed (publishedVersion)
- CaltechAUTHORS (California Institute of Technology) (submittedVersion)
- Funders
- Army Research Office (W911NF-1710147, W911NF)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Physical Sciences › Engineering › Mechanical Engineering › Advanced Materials and Mechanics
- Physical Sciences › Physics and Astronomy › Condensed Matter Physics › Micro and Nano Robotics
- Keywords
- untethered soft robots, bistable elements, thermal actuation, swimming robot, autonomous navigation
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