Matter
Volume 4, Issue 10, 6 October 2021, Pages 3313-3326
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Article
4D-printed untethered self-propelling soft robot with tactile perception: Rolling, racing, and exploring

https://doi.org/10.1016/j.matt.2021.08.014Get rights and content
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Highlights

  • An untethered self-propelling soft robot obtained by 4D printing one-time molding

  • A 4D-printed single-material soft robot shows tactile perception

  • A soft robot with powerful transportation ability

Progress and potential

4D printing can process smart materials into dynamic architectures with various stimuli-responsive behaviors. In addition to simple deformation, it is more attractive to print intelligent soft robots with perception and adaptability. Obtaining an intelligent soft robot directly through 4D printing is still a great challenge. In this work, we developed a single-material soft robot with untethered motion ability using 4D printing without any other processing procedures. The rolling of the robot is stable and powerful, while the speed and direction can be adjusted by changing its shape and size. Moreover, the intelligent responsive behavior of the robot constitutes machine perception based on artificial intelligence. Thus, the proposed robot can be applied in cargo transportation and intelligent exploration of unfamiliar environments in outer space.

Summary

Fabricating an intelligent and tactile-sensitive untethered soft robot is a major challenge. In this study, we used 4D printing to manufacture a liquid crystal elastomer-based robot that can realize untethered self-propelled rolling when heated to above 160°C after morphing into a tubule. The curvature of the tubule renders a sustainable directional rolling movement to the robot. A 10-cm-long robot can attain a maximum velocity of more than 48 cm/min on the horizontal plane and climb a slope of approximately 20°. Longer tubules roll faster with improved stability, which ensures the robot's adaptability to complex terrains. Given the flexibility of the material and structure, the tactile sensing ability of the robot is similar to that of the antennae in insects. In addition, the robot can carry a load that is 40 times its own weight, which increases the potential applicability of the proposed robot in the transportation industry.

Keywords

4D printing
soft robots
liquid crystal elastomers
smart materials
untethered robots
self-propelling robots
3D printing
Actuators
Stimuli-response
Direct ink writing

Material advancement progression

MAP1: Discovery

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