Maneuverable Multilegged Locomotion through Anisotropically Arranged Soft Backbones in a Single‐Actuator Modular Miniature Robot
Year: 2026
Type: article
Abstract: Under‐actuated compliant systems have emerged as a promising solution to the challenges of actuation and control in soft robotics. By leveraging structural compliance and material dynamics, such systems reduce the need for complex actuators and controllers. Herein, a centimeter‐scale, eight‐legged robot composed of four C‐shaped modules connected via soft PDMS backbones is presented, powered by a single DC motor that induces vibration through a rotating unbalanced mass. This configuration enables four distinct locomotion modes: forward motion, turning, and lateral translations. The design simplifies fabrication and aligns with the Soft Curved Reconfigurable Anisotropic Mechanism paradigm. A modified pseudo‐rigid body model is developed and integrated into the MuJoCo simulation environment to accurately capture the robot's dynamics. Experimental validation and sensitivity analysis are conducted to evaluate performance under varying conditions, and reinforcement learning is employed to optimize locomotion strategies. This work demonstrates a novel approach to versatile and scalable robotic motion using minimal actuation.
Source: Advanced Intelligent Systems
Institutions: Bilkent University, Arizona State University
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,970
OpenAlex ID: W7118714873