Title: Adaptive Locomotion of Pleurotya Caterpillar-Inspired Segmental Crawling Robots with Multiple Postures

Author: Yanfu Tang, Feng Pan, Lang Qin*, Yanlei Yu*

Journal: Adv. Funct. Mater., 2025, 2506987

Abstract:

Soft crawling robots capable of adjusting postures and generating adaptive locomotion modes are in high demand for autonomous adaptation to varying environments. Appropriate postures generated by robots’ deformation are crucial for diverse target locomotion. However, achieving multiple postures for integrating bidirectional crawling, crawling-to-rolling mode switching, and self-righting capability remains challenging. Herein, inspired by the kinematics of Pleurotya caterpillars, dynamic curvature controllability, which is realized through combining segmental structures and high curvature bending of each segment, is an effective strategy for active shape adaptation and attaining multiple postures. Segmental soft crawling robots, termed CRAWL, are fabricated by incorporating soft liquid crystal elastomers (LCEs) and rigid acrylic resin via multi-material 4D printing. The high curvature bending of each segment is attributed to the gradient alignment of mesogens induced by the non-uniform shear forces. The tunable curvature of the CRAWL is achieved through light-fueled bending of designated LCEs within the segmental structure on demand. This enables the CRAWL to obtain multiple postures and thus perform adaptive locomotion, including bidirectional crawling, curling into a loop, and rolling downhill, as well as correcting their postures through self-righting behavior when losing balance. This work provides new insights for designing soft robots with enhanced environmental adaptability.

Fulltext Link：https://advanced.onlinelibrary.wiley.com/doi/10.1002/adfm.202506987