Light‐Driven Quadrupedal Walking Biohybrid Robot With Antagonistic Muscle‐Rings and Inclined Joints

This article describes a light‐driven quadrupedal walking biohybrid robot that achieves both straight and turning locomotion through alternating gait. Unlike conventional light‐driven biohybrid robots based on bending soft beams that result in undulatory crawling, our system generates leg lift‐off and touchdown via inclined joint axes and antagonistic muscle pair structures. In addition, caffeine treatment enhanced contractile force, while optical training improved tissue fabrication reproducibility. These combined features expand the possibilities for biohybrid walking robots with improved strides, terrain adaptability, and multijoint scalability.