{"ID":2860493,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.03660","arxiv_id":"2510.03660","title":"An Amphibious Untethered Inchworm Soft Robot for Fast Crawling Locomotion","abstract":"Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved, flexible structure actuated by magnetic forces. The robot has a total mass of 102.63 g and demonstrates multimodal locomotion, achieving a maximum walking speed of 3.74 cm/s and a swimming speed of 0.82 cm/s. A compact and lightweight onboard control circuit enables wireless command transmission, while an integrated camera provides environmental perception. Through structural optimization and system-level integration, the robot successfully performs walking, steering, swimming, and payload transport without reliance on external infrastructure. The robot's dynamic performance and locomotion capabilities are systematically validated through experimental characterization.","short_abstract":"Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved, flexible structure actuated by magnetic forces. The robot has a total mass of 102.63 g...","url_abs":"https://arxiv.org/abs/2510.03660","url_pdf":"https://arxiv.org/pdf/2510.03660v1","authors":"[\"Mohammadjavad Javadi\",\"Charlie Wadds\",\"Robin Chhabra\"]","published":"2025-10-04T04:16:11Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}