From Coils to Crawls: A Snake-Inspired Soft Robot for Multimodal Locomotion and Grasping

被引：0

作者：

He Chen ^{[1
]}

Zhong Chen ^{[2
]}

Zonglin Liu ^{[1
]}

Jinhua Xiong ^{[1
]}

Qian Yan ^{[1
]}

Teng Fei ^{[1
]}

Xu Zhao ^{[1
]}

Fuhua Xue ^{[1
]}

Haowen Zheng ^{[1
]}

Huanxin Lian ^{[1
]}

Yunxiang Chen ^{[1
]}

Liangliang Xu ^{[1
]}

Qingyu Peng ^{[1
]}

Xiaodong He ^{[3
]}

机构：

[1] Harbin Institute of Technology,National Key Laboratory of Science and Technology On Advanced Composites in Special Environments, Center for Composite Materials and Structures

[2] Dongfang Electric Academy of Science and Technology Co. Ltd,undefined

[3] Suzhou Research Institute of HIT,undefined

来源：

Nano-Micro Letters | 2025年 / 17卷 / 1期

关键词：

Untethered biomimetic robots; Coiling deformation; Multimodal locomotion; Multistimuli-response; Coiling grasping;

D O I：

10.1007/s40820-025-01762-9

中图分类号：

学科分类号：

摘要：

A tunable initial coiling structure soft robot (ICSBot) has been developed by combining theoretical calculations, finite element analysis, and direct ink writing technology.By mimicking the prey-handling behavior of snakes, ICSBot functions as a coiling gripper, capable of dynamic uncoiling, object grasping, and controlled release.By simulating the multimodal movement of snakes, ICSBot demonstrated sidewinding locomotion to navigate unstructured environments, accordion locomotion to navigate narrow tubes, and winding climbing locomotion to traverse tubular structures under near-infrared light radiation.

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