Snapping Actuators with Asymmetric and Sequenced Motion

• URL: http://arxiv.org/abs/2602.18421v1
• Date: Fri, 20 Feb 2026 18:45:17 GMT
• Title: Snapping Actuators with Asymmetric and Sequenced Motion
• Abstract summary: A compact quadrupedal robot achieves coordinated wavelike locomotion using only a single pressure input.<n>The robot exhibits frequency-dependent performance with a maximum speed of 72.78mm/s at 7.5Hz.
• Score: 6.7646973106436254
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through geometry-induced instability. Finite element simulations and experiments reveal consistent asymmetric deformation and the corresponding pressure characteristics. By coupling four snapping actuators in a pneumatic network, a compact quadrupedal robot achieves coordinated wavelike locomotion using only a single pressure input. The robot exhibits frequency-dependent performance with a maximum speed of 72.78~mm/s at 7.5~Hz. These findings demonstrate the potential of asymmetric snapping mechanisms for physically controlled actuation and lay the groundwork for fully untethered and efficient soft robotic systems.

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