Multimodal soft jumping robot with self-decision ability

Abstract

Abstract The next generation of soft robots should have self-decision ability to judge reasonable responses adaptively according to external stimulation and without human assistance. However, few of the current soft robots have brains to think independently; rather, they have integrated sensors and actuators, similar to animals having skin and muscles. In this paper, a bistable soft jumping robot with self-decision ability is reported, which is manufactured by 4D printing of composites with continuous fibers. The snap-through triggered by temperature stimulation resulted in the jumping motion of the robot, and its jumping mode is controlled by a programmed continuous fiber pattern. This robot able to take decisions can change from the initial state to the final state via different deforming pathways when snap-through occurs, resulting in multiple jumping motion modes. This soft robot can realize (1) different jumping modes, including forward, rotational, lateral, and overturn movements; (2) self-decision function of motion modes responding to external stimuli; and (3) continuous movement, by repeatedly jumping under periodic temperature stimulation. This research will provide a new scheme for soft robotics to achieve the integration of sensation, actuation, and decision.