A Millimeter-Scale Snail Robot Based on a Light-Powered Liquid Crystal Elastomer Continuous Actuator

Abstract

Crawling by means of the traveling deformation of a soft body is a widespread mode of locomotion in nature-animals across scales, from microscopic nematodes to earthworms to gastropods, use it to move around challenging terrestrial environments. Snails, in particular, use mucus-a slippery, aqueous secretion-to enhance the interaction between their ventral foot and the contact surface. In this study, a millimeter-scale soft crawling robot is demonstrated that uses a similar mechanism to move efficiently in a variety of configurations: on horizontal, vertical, as well as upside-down surfaces; on smooth and rough surfaces; and through obstacles comparable in size to its dimensions. The traveling deformation of the robot soft body is generated via a local light-induced phase transition in a liquid crystal elastomer and resembles the pedal waves of terrestrial gastropods. This work offers a new approach to micro-engineering with smart materials as well as a tool to better understand this mode of locomotion in nature.

Keywords: bioinspired robotics; liquid crystal elastomers; photoactuation; soft robots.