There is growing interest in creating untethered soft robotic matter that can repeatedly shape-morph and self-propel in response to external stimuli. Toward this goal, we printed soft robotic matter composed of liquid crystal elastomer (LCE) bilayers with orthogonal director alignment and different nematic-to-isotropic transition temperatures (T_NI) to form active hinges that interconnect polymeric tiles. When heated above their respective actuation temperatures, the printed LCE hinges exhibit a large, reversible bending response. Their actuation response is programmed by varying their chemistry and printed architecture. Through an integrated design and additive manufacturing approach, we created passively controlled, untethered soft robotic matter that adopts task-specific configurations on demand, including a self-twisting origami polyhedron that exhibits three stable configurations and a “rollbot” that assembles into a pentagonal prism and self-rolls in programmed responses to thermal stimuli.

Significance: A major challenge in soft robotics is the integration of sensing, actuation, control, and propulsion. Here, we propose a material-based approach for designing soft robots. We show an untethered, soft swimming robot, which can complete preprogrammed tasks without the need for electronics, controllers, or power sources on board. To achieve propulsion, we use bistable shape memory polymer muscles connected to paddles that amplify actuation forces. As a proof of principle, we show that these robots can be preprogrammed to follow specific routes or deliver a cargo and navigate back to their deployment point. The proposed design principle can have a broad impact in soft robotics based on programed materials.

Resonant metamaterials have been proposed to reflect or redirect elastic waves at different length scales, ranging from thermal vibrations to seismic excitation. However, for seismic excitation, where energy is mostly carried by surface waves, energy reflection and redirection might lead to harming surrounding regions. Here, we propose a seismic metabarrier able to convert seismic Rayleigh waves into shear bulk waves that propagate away from the soil surface. The metabarrier is realized by burying sub-wavelength resonant structures under the soil surface. Each resonant structure consists of a cylindrical mass suspended by elastomeric springs within a concrete case and can be tuned to the resonance frequency of interest. The design allows controlling seismic waves with wavelengths from 10-to-100 m with meter-sized resonant structures. We develop an analytical model based on effective medium theory able to capture the mode conversion mechanism. The model is used to guide the design of metabarriers for varying soil conditions and validated using finite-element simulations. We investigate the shielding performance of a metabarrier in a scaled experimental model and demonstrate that surface ground motion can be reduced up to 50% in frequency regions below 10 Hz, relevant for the protection of buildings and civil infrastructures.