Developing a multi-functional magnetic-driven soft robot to carry out various medical missions remains challenging. In this work, we design a tripedal soft magnetic robot with three radial magnetized cylindric permanent magnets embedded in three soles. The motion modalities for movement include butterfly crawling (along the x and y axis), scorpion crawling, and rolling. At different frequencies, the robot exhibits different behaviors in terms of speed and trajectory under different moving modalities. The maximum velocity of the butterfly crawling and scorpion crawling motion at the frequency of 1 Hz is measured to be 5.30 mm/s and 9.06 mm/s.
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Co-authors: Ruijie Tang and Prof. Hongliang Ren
