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

IF 26.6 1区材料科学 Q1 Engineering

Nano-Micro Letters Pub Date : 2025-04-30 DOI:10.1007/s40820-025-01762-9

He Chen, Zhong Chen, Zonglin Liu, Jinhua Xiong, Qian Yan, Teng Fei, Xu Zhao, Fuhua Xue, Haowen Zheng, Huanxin Lian, Yunxiang Chen, Liangliang Xu, Qingyu Peng, Xiaodong He

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引用次数: 0

Abstract

Highlights

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.

Abstract Image

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从线圈到爬行：一种多模态运动和抓取的蛇型软机器人

结合理论计算、有限元分析和直接墨水书写技术，研制了一种可调初始卷绕结构软机器人（ICSBot）。通过模仿蛇的捕食行为，ICSBot的功能就像一个盘绕的抓手，能够动态展开、抓取物体和控制释放。通过模拟蛇的多模式运动，ICSBot在近红外光辐射下展示了在非结构化环境中进行侧绕运动、在狭窄管道中进行手风琴运动以及在管道结构中进行缠绕攀爬运动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Nano-Micro Letters NANOSCIENCE & NANOTECHNOLOGY-MATERIALS SCIENCE, MULTIDISCIPLINARY

CiteScore

32.60

自引率

4.90%

发文量

981

审稿时长

1.1 months

期刊介绍： Nano-Micro Letters is a peer-reviewed, international, interdisciplinary, and open-access journal published under the SpringerOpen brand. Nano-Micro Letters focuses on the science, experiments, engineering, technologies, and applications of nano- or microscale structures and systems in various fields such as physics, chemistry, biology, material science, and pharmacy.It also explores the expanding interfaces between these fields. Nano-Micro Letters particularly emphasizes the bottom-up approach in the length scale from nano to micro. This approach is crucial for achieving industrial applications in nanotechnology, as it involves the assembly, modification, and control of nanostructures on a microscale.