Shape Memory Alloy‐Based Soft Amphibious Robot Capable of Seal‐Inspired Locomotion

• DOI: 10.1002/admt.202101153
• Publication Date: 2022-02-11T07:51:31Z
• Authors: Jonghyun Hwang; Wei Dawid Wang
• Keywords: Crawling; Soft Robotics; Robot locomotion

Abstract Robots are often required to have multimodal and amphibious capabilities for dynamic environments. Although shape memory alloy (SMA) has been exploited in creating various types of deformation soft actuators, no SMA‐based robot reported. This study describes a made actuators that mimics the terrestrial subaqueous motion crawling seals. The named SEALicone exhibits two gaits, locomotion oscillatory underwater propulsion. consists actuators: backbone actuator with wave‐like support fusiform deformation. These collectively deform allowing generate distinct styles mimic those Straight advance turning motions both environments evaluated, transitional between is also demonstrated. lays important groundwork designing robots can operate across different