太陽光で自走するサブグラム級ソフトロボット

原文アブストラクト

Soft robots built from active materials can directly convert environmental stimuli into motion, offering a route to energy autonomy and embodied control. However, environmental energy is generally harvested at low power, whereas rapid, mechanically demanding actions require high mechanical output power. Reconciling this mismatch while sustaining self-regulated cyclic actuation is challenging, particularly at the subgram scale, where limited payload capacity constrains the integration of conventional power and control hardware. Here, we present SunLightBots, a class of subgram, sunlight-powered, untethered soft robots that achieve autonomous locomotion under continuous illumination near 1 Sun (100 mW/cm2). Their operation is enabled by a self-resetting snapping (SRS) mechanism that integrates liquid crystal elastomers (LCEs) with snap-through instability to accumulate solar energy supplied at low power, release it as rapid, high-power motion, and reset through photothermal-mechanical feedback. Through coordinated optimization of the LCE actuation temperature, photothermal conversion, actuation stress, and structural energy barrier, the system operates near 1 Sun and achieves a peak mass-specific mechanical power of 89 W/kg. At this irradiance, the optimized LCE generates an actuation stress of 0.1 MPa at approximately 60 deg C. SunLightBots demonstrate sustained swimming, crawling, and repeated impulsive jumping. Under 1.5 Suns, the swimmer advances more than three body lengths per cycle. This work provides a materials-mechanics route toward autonomous soft robots powered entirely by the environment.