Seal-Bioinspired Electrostatic Oscillation-Based Soft Robot with Light Tunable Locomotion

Abstract

Self-oscillation that persistently outputs mechanical work plays a crucial role in the activity of living organisms, which inspires its use to design bionic soft robots with diverse motions. However, current self-oscillators require precise control of the stimulated field, such as heat/humidity gradient, patterned light, etc. Challenges remain in attaining simple material structures capable of precise control of self-oscillation by utilizing a simple, non-patterned energy field. Here, an electrostatic-driven graphene oscillator that enables continuous oscillating motion with tunable frequency and lower energy consumption is developed in a simple way, attributed to the electrostatic force and the negative feedback loop resulting from the charging phenomenon. Further, inspired by seals’ movements, an untethered, synergistic electrostatic/optical dual-stimuli-driven robot is further designed, where this graphene oscillator is used as a bionic hind flipper to provide propulsion, and MXene-based light-driven actuators are introduced as fore flippers to control direction. This seal-like robot is capable of precise and controllable locomotion in narrow spaces, including obstacle avoidance and parking to predetermined positions. In addition, a rotating robot that rotates persistently and rapidly under an electric field is also achieved. This graphene oscillator and robots show promising application prospects in motors and miniature soft robots for operation in special scenarios.