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Many inspirations for soft robotics are from the natural world, such as octopuses, snakes, and caterpillars. Here, we report a caterpillar-inspired, energy-efficient crawling robot with multiple crawling modes, enabled by joule heating of a patterned soft heater consisting of silver nanowire networks in a liquid crystal elastomer (LCE)–based thermal bimorph actuator. With patterned and distributed heaters and programmable heating, different temperature and hence curvature distribution along the body of the robot are achieved, enabling bidirectional locomotion as a result of the friction competition between the front and rear end with the ground. The thermal bimorph behavior is studied to predict and optimize the local curvature of the robot under thermal stimuli. The bidirectional actuation modes with the crawling speeds are investigated. The capability of passing through obstacles with limited spacing are demonstrated. The strategy of distributed and programmable heating and actuation with thermal responsive materials offers unprecedented capabilities for smart and multifunctional soft robots.

Natural selection has tuned many flying and swimming animals to share the same narrow design space for high power efficiency, e.g., their dimensionless Strouhal numbers St that relate flapping frequency and amplitude and forward speed fall within the range of 0.2 < St < 0.4 for peak propulsive efficiency. It is rather challenging to achieve both comparably fast-speed and high-efficient soft swimmers to marine animals due to the naturally selected narrow design space and soft body compliance. Here, bioinspired by the flapping motion in swimming animals, we report leveraging snapping instabilities for soft flapping-wing swimmers with comparable high performance to biological counterparts. The lightweight, butterfly stroke–like soft swimmer (2.8 g) demonstrates a record-high speed of 3.74 body length/s (4.8 times faster than the reported fastest flapping soft swimmer), high power efficiency (0.2 < St = 0.25 < 0.4), low energy consumption cost, and high maneuverability (a high turning speed of 157°/s).

Soft robots that can harvest energy from environmental resources for autonomous locomotion is highly desired; however, few are capable of adaptive navigation without human interventions. Here, we report twisting soft robots with embodied physical intelligence for adaptive, intelligent autonomous locomotion in various unstructured environments, without on-board or external controls and human interventions. The soft robots are constructed of twisted thermal-responsive liquid crystal elastomer ribbons with a straight centerline. They can harvest thermal energy from environments to roll on outdoor hard surfaces and challenging granular substrates without slip, including ascending loose sandy slopes, crossing sand ripples, escaping from burying sand, and crossing rocks with additional camouflaging features. The twisting body provides anchoring functionality by burrowing into loose sand. When encountering obstacles, they can either self-turn or self-snap for obstacle negotiation and avoidance. Theoretical models and finite element simulation reveal that such physical intelligence is achieved by spontaneously snapping-through its soft body upon active and adaptive soft body-obstacle interactions. Utilizing this strategy, they can intelligently escape from confined spaces and maze-like obstacle courses without any human intervention. This work presents a de novo design of embodied physical intelligence by harnessing the twisting geometry and snap-through instability for adaptive soft robot-environment interactions.

For centuries, people have put effort to improve the thermal performance of clothing to adapt to varying temperatures. However, most clothing we wear today only offers a single-mode insulation. The adoption of active thermal management devices, such as resistive heaters, Peltier coolers, and water recirculation are limited by their excessive energy consumption and form factor for long-term, continuous, and personalized thermal comfort. In this paper, we developed a wearable variable-emittance device (WeaVE), enabling the tunable radiative heat transfer coefficient to fill the missing gap between thermoregulation energy efficiency and controllability. WeaVE is an electrically driven, kirigami-enabled electrochromic thin-film device that can effectively tune the mid-infrared thermal radiation heat loss of the human body. The kirigami designs provide stretchability and conformal deformation attached to the human body surface, and the electronic control enables programmable personalized thermoregulation. With less than 5.58 mJ/cm2 energy input per switching, WeaVE provides 4.9°C expansion of the thermal comfort zone, which is equivalent to a continuous power input of 33.9 W/m2. This non-volatile characteristic substantially decreases the required energy while maintaining the on-demand controllability, thereby providing vast opportunities for the next generation of smart personal thermal managing fabrics and wearable technologies.

Harnessing snapping, an instability phenomenon observed in nature (e.g., Venus flytraps), for autonomy has attracted growing interest in autonomous soft robots. However, achieving self-sustained snapping and snapping-driven autonomous motions in soft robots remains largely unexplored. Here, we report harnessing bistable, ribbon ring-like structures for realizing self-sustained snapping in a library of soft liquid crystal elastomer wavy rings under constant thermal and photothermal actuation. The self-sustained snapping induces continuous ring flipping that drives autonomous dancing or crawling motions on the ground and under water. The three-dimensional, free-standing wavy rings employ either a highly symmetric or symmetry-broken twisted shape with tunable geometric asymmetries. We find that the former favors periodic self-dancing motion in place due to isotropic friction, while the latter shows a directional crawling motion along the predefined axis of symmetry during fabrication due to asymmetric friction. It shows that the crawling speed can be tuned by the geometric asymmetries with a peak speed achieved at the highest geometric asymmetry. Lastly, we show that the autonomous crawling ring can also adapt its body shape to pass through a confined space that is over 30% narrower than its body size. This article is protected by copyright. All rights reserved.

Buildings account for 30% of global energy consumption. Improving the energy efficiency of buildings becomes essential to reducing energy consumption for alleviating their deteriorating impacts on the environment. As one of the key elements, the building envelope is essential to reducing the building energy consumption. Recent researches have demonstrated the promise of environmentally adaptive shape-morphing building envelopes in enhancing energy efficiency over the conventional stationary ones. In this review, we briefly discuss the recent advances in energy-efficient shape-morphing building envelopes from both structural designs and engineering materials viewpoints for energy saving and energy harvesting. For structural designs, we discuss the designs and performances of four representative categories of shape-morphing building envelopes, including conventional dynamic facades with simple rigid motions, biomimic adaptive structures, reconfigurable kirigami/origami-based structures, and morphable wrinkling surface–based smart windows. For materials design, we discuss the typical materials and design strategies used for actuating the shape-morphing building envelopes and smart windows. We expect that this brief review will be insightful for developing future shape-morphing building envelopes to make buildings more energetically efficient, comfortable, and environmentally friendly.

Kirigami (cutting and/or folding) offers a promising strategy to reconfigure metamaterials. Conventionally, kirigami metamaterials are often composed of passive cut unit cells to be reconfigured under mechanical forces. The constituent stimuli-responsive materials in active kirigami metamaterials instead will enable potential mechanical properties and functionality, arising from the active control of cut unit cells. However, the planar features of hinges in conventional kirigami structures significantly constrain the degrees of freedom (DOFs) in both deformation and actuation of the cut units. To release both constraints, here, we demonstrate a universal design of implementing folds to reconstruct sole-cuts-based metamaterials. We show that the supplemented folds not only enrich the structural reconfiguration beyond sole cuts but also enable more DOFs in actuating the kirigami metasheets into 3 dimensions (3D) in response to environmental temperature. Utilizing the multi-DOF in deformation of unit cells, we demonstrate that planar metasheets with the same cut design can self-fold into programmable 3D kirigami metastructures with distinct mechanical properties. Last, we demonstrate potential applications of programmable kirigami machines and easy-turning soft robots.