Snapping Actuators with Asymmetric and Sequenced Motion
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866914340105355264 |
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| author | Li, Xin Jin, Ye Jafarpour, Mohsen Oliveira, Hugo de Souza Milana, Edoardo |
| author_facet | Li, Xin Jin, Ye Jafarpour, Mohsen Oliveira, Hugo de Souza Milana, Edoardo |
| contents | Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through geometry-induced instability. Finite element simulations and experiments reveal consistent asymmetric deformation and the corresponding pressure characteristics. By coupling four snapping actuators in a pneumatic network, a compact quadrupedal robot achieves coordinated wavelike locomotion using only a single pressure input. The robot exhibits frequency-dependent performance with a maximum speed of 72.78~mm/s at 7.5~Hz. These findings demonstrate the potential of asymmetric snapping mechanisms for physically controlled actuation and lay the groundwork for fully untethered and efficient soft robotic systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_18421 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Snapping Actuators with Asymmetric and Sequenced Motion Li, Xin Jin, Ye Jafarpour, Mohsen Oliveira, Hugo de Souza Milana, Edoardo Robotics Soft Condensed Matter Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through geometry-induced instability. Finite element simulations and experiments reveal consistent asymmetric deformation and the corresponding pressure characteristics. By coupling four snapping actuators in a pneumatic network, a compact quadrupedal robot achieves coordinated wavelike locomotion using only a single pressure input. The robot exhibits frequency-dependent performance with a maximum speed of 72.78~mm/s at 7.5~Hz. These findings demonstrate the potential of asymmetric snapping mechanisms for physically controlled actuation and lay the groundwork for fully untethered and efficient soft robotic systems. |
| title | Snapping Actuators with Asymmetric and Sequenced Motion |
| topic | Robotics Soft Condensed Matter |
| url | https://arxiv.org/abs/2602.18421 |