An Amphibious Untethered Inchworm Soft Robot for Fast Crawling Locomotion
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866914075174240256 |
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| author | Javadi, Mohammadjavad Wadds, Charlie Chhabra, Robin |
| author_facet | Javadi, Mohammadjavad Wadds, Charlie Chhabra, Robin |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_03660 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | An Amphibious Untethered Inchworm Soft Robot for Fast Crawling Locomotion Javadi, Mohammadjavad Wadds, Charlie Chhabra, Robin Robotics 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. |
| title | An Amphibious Untethered Inchworm Soft Robot for Fast Crawling Locomotion |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.03660 |