Motion analysis of a Quadruped Softrobot based on Magnetic Actuation

In this study, we present a novel programmable quadrupedal soft robot, designed with the concept of two distinct symmetric directions of magnetization. This soft robot utilizes a magnetic drive system that enables precise motion control and facilitates stable crawling motion under the influence of a magnetic field. Experimental results indicate that the symmetric magnetization configuration, characterized by two pairs of feet oriented in opposing directions, effectively achieves quadrupedal alternating motion. Under these conditions, the soft robot demonstrates a consistent average speed of 4.5 mm/s when subjected to a Z-axis magnetic field strength of 85 GS and a frequency of 15 Hz. This performance is substantially superior when compared to a control configuration with identical symmetric orientation of the two pairs of feet, which yields a lower speed of 2.1 mm/s. Our comprehensive movement tests across various control modes further illustrate the soft robot’s robust locomotor capabilities, underscoring its potential applicability in fields such as biomedicine, emergency rescue, and environmental monitoring.