Kangaroo Combat-Inspired Magnetic Soft Robot with Tail Support for Multi-Modal Locomotion

The significant advantage of magnetically driven robots lies in their ability to achieve wireless actuation with low-complexity designs. The actuation method utilizing a uniform magnetic field offers greater stability, whereas the approach employing permanent magnets provides enhanced autonomy. Consequently, it is crucial to ensure that our robot can perform equivalently directional and precise movements within a uniform magnetic field. This capability is vital for harnessing the stability of uniform fields while achieving the targeted motion control typically associated with the independence of permanent magnet systems. In the design of bio-inspired legged robots, it is common for each leg to possess independent actuation capabilities. However, in a uniform magnetic field, this can lead to mutual interference among the legs. In this study, we draw inspiration from a characteristic observed in certain animals: the use of appendages that are not directly involved in actuation but serve primarily to assist movement. These appendages, first and foremost, enable additional modes of locomotion. Moreover, they enhance the precision of the robot’s movements. By adopting this approach, we mitigate the interference issues inherent in uniform magnetic fields while improving the robot’s overall functionality and accuracy.