Soft Robot Design for Hierarchical Magnetomotility

초록

Diverse designs of magnetic soft robots have been developed for programming locomotion. Recently, we demonstrated hierarchical magnetomotility of multiple soft robots capable of rotating and revolving in an orbit by rotating linearly connected permanent magnets. The hierarchical magetomotility allows on-demand control of orbital locomotive behaviors including orbital radius, orbital velocity, and pathway. For the magnetomotility of the soft robots, magnetic nanoparticles are dispersed at nanoscale in thermoplastic polyurethane matrix. In this presentation, we will discuss the effects of concentration and dispersity of nanoparticles in the polymer matrices on the orbital maneuver of soft robots in the perspective of structure-property-performance relationships.