An auxetic meta-structure enabled soft locomotive robot

Abstract

This paper introduces the ADAMBOT, a novel soft locomotive robot that leverages the active deformability of auxetic meta-structures, a feature largely unexplored in robotics. The ADAMBOT utilizes a unique soft auxetic structure (SAS), combining rigid boxes with elastic joints, enabling it to achieve both the compliance of soft materials and the properties of auxetic meta-structures. Driven by a single motor and multi-electromagnet hybrid drive system, the ADAMBOT achieves planar motion on ferromagnetic surfaces through actuation-induced body deformation, leveraging electromagnets for adhesion. This design enables the ADAMBOT to transition seamlessly from ground to curved surfaces and then to vertical walls, demonstrating exceptional adaptability. The ADAMBOT can cross gaps between two surfaces, showcasing its potential for navigating challenging terrains. Its reconfigurable design allows for rapid assembly into different configurations, adapting to diverse tasks. The ADAMBOT’s capabilities demonstrate the potential of robots based on SAS for exploration and detection in challenging and unfamiliar environments, opening up new possibilities for robotics in diverse applications.