Magnetically Driven Soft Robot With Bistable Actuators for Multimodal Locomotion

Magnetically actuated soft robots, with their capability for wireless operation, enable unconstrained multimodal locomotion, demonstrating significant potential in environmental exploration and modern medical applications. However, once traditional magnetically driven soft robots are designed, the fixed nature of their structure and magnetization direction limits their mobility. In this research, a magnetically driven soft robot capable of multimodal locomotion is proposed, designed by integrating bistable actuator with magnetic actuation. By manipulating the external magnetic field, the robot not only swiftly transitions between different stable states, but also exhibits unique motions in each state due to changes in its structural configuration and magnetization direction. To understand bistable mechanism of the bistable actuators, we developed a theoretical model based on the energy method, which was subsequently validated through finite element analysis and experiments. The experimental results demonstrate the multimodal locomotion and cargo-grasping capabilities of the robot, enabling it to traverse diverse terrains, including flat surfaces, steps, and high walls. The proposed bistable design, combined with magnetic actuation, opens new possibilities for the development of next-generation autonomous soft robots, providing a novel approach to enhance adaptability and functionality in complex environments.