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Magnetically controlled multimodal motion for environmentally adaptive soft millirobots with transformable wheel-leg

Shihao Zhong^1,2, Ruhao Nie^1,2, Zhiqiang Zheng³

¹Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Innovation (Cambridge (Mass.))

|March 6, 2026

Summary

This summary is machine-generated.

This study introduces a novel multi-stimuli-responsive soft millirobot capable of adaptive multimodal locomotion. It navigates complex terrains and performs tasks through shape-morphing capabilities, overcoming previous limitations in soft robot navigation.

Keywords:

environmentally adaptive magnetic actuation microrobot multimodal motion soft robot

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Area of Science:

Robotics
Materials Science
Control Systems

Background:

Soft robots offer high morphological flexibility for confined environments.
Stable navigation and shape-morphing in soft millirobots across diverse terrains remain challenging due to coupled driving and environmental disturbances.

Purpose of the Study:

To develop a multi-stimuli-responsive millirobot with adaptive multimodal locomotion control.
To enhance environmental interaction, tasking capabilities, and navigation in unstructured terrains.

Main Methods:

Constructed a millirobot from temperature, humidity, and magnetic field-responsive materials.
Utilized theoretical models for polymorphic locomotion (bipedal walking, rolling).
Implemented a hierarchical dual-layer path-following controller for adaptive movement.

Main Results:

The millirobot demonstrated precise navigation and independent control of deformation and locomotion.
Achieved adaptable traversal of slopes, stairs, slits, and gaps using various locomotion modes and morphologies.
Successfully performed tasks like cargo capture and transport via morphological transformation.

Conclusions:

The developed multimodal motion strategy based on polymorphism enhances soft millirobot adaptability and functionality.
This approach shows promise for micro-object manipulation and inspection in confined, varied, and unstructured environments.