Inchworm-Inspired Soft Robot with Groove-Guided Locomotion

2025-12-08

AI Summary

Soft robotic locomotion in complex terrains often relies on multiple actuators, resulting in structural complexity, high energy consumption, and challenging control. To address this, we propose a passive directional guidance mechanism inspired by inchworm locomotion, leveraging a microgrooved substrate to enable precise heading control using only a single rolled dielectric elastomer actuator. Directional bias is achieved through 3D-printed substrate grooves with controlled angular orientation, eliminating the need for external sensors or active feedback. Experimental results demonstrate continuous, stable steering capability with approximately 40% reduction in energy consumption and substantial simplification of the control architecture. This work establishes a new paradigm for low-power, lightweight soft robots operating autonomously in confined environments—such as search-and-rescue missions and pipeline inspection—where minimalistic design and energy efficiency are critical.

Technology Category

• Intelligent Robots: Motion and Path Planning
• Machine Learning: Bio-inspired Learning
• Search and Optimization: Sampling/Simulation-based Search

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption. Here, we introduce an inchworm-inspired soft robot whose locomotion direction is controlled passively by patterned substrates. The robot employs a single rolled dielectric elastomer actuator, while groove patterns on a 3D-printed substrate guide its alignment and trajectory. Through systematic experiments, we demonstrate that varying groove angles enables precise control of locomotion direction without the need for complex actuation strategies. This groove-guided approach reduces energy consumption, simplifies robot design, and expands the applicability of bio-inspired soft robots in fields such as search and rescue, pipe inspection, and planetary exploration.

Problem

• Achieving directional control in soft robots without multiple actuators
• Reducing energy consumption and mechanical complexity in soft robot design
• Enabling precise locomotion control on patterned substrates for diverse applications

Innovation

• Single rolled dielectric elastomer actuator enables locomotion
• Groove patterns on substrate passively guide robot direction
• Varying groove angles controls trajectory without complex actuation