Fig. 5
From: Sensing-actuating integrated asymmetric multilayer hydrogel muscle for soft robotics
Demonstration of self-crawling robot. a Workflow chart of the self-crawling robot. b Schematic diagram and connection method between hydrogel muscle and control circuit. c The sequential steps during the crawling stride under closed-loop control. d Plots of self-crawling robot locomotion displacement during 7.5 times of crawling. e The relative resistance values of the sensing layer during the clawing process
