Fig. 3: Circular locomotion of the soft robot under a high frequency.
From: Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design
a The theoretically predicted normalized force κ as a function of the normalized frequency Ω. The force reaches a maximum at the resonance frequency. b The theoretically calculated maximum Δz at the steady state under various f. c The experimental and FE simulated twisting angle α as a function of Δz. d Experimental snapshots of the soft robots moving in the right circular direction. e–h The soft robot can reach four points A, B, C, and D in the four quadrants by adjusting the frequency only (Supplementary Movie 6). Three frequencies are used to generate backward (12 Hz, blue dashed curve), forward (25 Hz, white dashed curve) and circular (55 Hz, orange dashed curve) motions. i Experiments showing a soft robot navigating in a maze.
