Inchworm-Inspired Soft Robot with Groove-Guided Locomotion

TL;DR

This paper presents a bio-inspired soft robot that passively controls its movement direction using groove patterns on a substrate, simplifying design and reducing energy use for navigation in complex terrains.

Contribution

It introduces a novel groove-guided locomotion method for soft robots using a single actuator and patterned substrates, eliminating complex actuation systems.

Findings

Varying groove angles enables precise directional control.

The approach reduces energy consumption and mechanical complexity.

The robot successfully navigates complex terrains in experiments.

Abstract

Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption. Here, we introduce an inchworm-inspired soft robot whose locomotion direction is controlled passively by patterned substrates. The robot employs a single rolled dielectric elastomer actuator, while groove patterns on a 3D-printed substrate guide its alignment and trajectory. Through systematic experiments, we demonstrate that varying groove angles enables precise control of locomotion direction without the need for complex actuation strategies. This groove-guided approach reduces energy consumption, simplifies robot design, and expands the applicability of bio-inspired soft robots in fields such as search and rescue, pipe inspection, and planetary exploration.