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- Title
Animating hydrogel knotbots with topology-invoked self-regulation.
- Authors
Zhu, Qing Li; Liu, Weixuan; Khoruzhenko, Olena; Breu, Josef; Hong, Wei; Zheng, Qiang; Wu, Zi Liang
- Abstract
Steering soft robots in a self-regulated manner remains a grand challenge, which often requires continuous symmetry breaking and recovery steps for persistent motion. Although structural morphology is found significant for robotic functions, geometric topology has rarely been considered and appreciated. Here we demonstrate a series of knotbots, namely hydrogel-based robots with knotted structures, capable of autonomous rolling and spinning/rotating motions. With symmetry broken by external stimuli and restored by self-regulation, the coupling between self-constraint-induced prestress and photothermal strain animates the knotbots continuously. Experiments and simulations reveal that nonequilibrium processes are regulated dynamically and cooperatively by self-constraints, active deformations, and self-shadowing effect of the photo-responsive gel. The active motions enable the knotbots to execute tasks including gear rotation and rod climbing. This work paves the way to devise advanced soft robots with self-regulated sustainable motions by harnessing the topology. Soft robots have potential in a number of applications, but the self-regulated steering of the robots under static stimuli is a significant challenge. Here, the authors report the movement of knotbots by symmetry breaking and restoration to achieve tasks including gear rotation and rod climbing.
- Subjects
GEOMETRIC topology; HYDROGELS; SYMMETRY breaking; PHOTOTHERMAL effect; DEFORMATION of surfaces; ROBOTS
- Publication
Nature Communications, 2024, Vol 15, Issue 1, p1
- ISSN
2041-1723
- Publication type
Article
- DOI
10.1038/s41467-023-44608-x