A Magneto-Active Elastomer Crawler with Peristaltic and Caterpillar Locomotion Patterns

In this work we present a soft crawler fabricated using magneto-active elastomer. The is controlled by an external magnetic field to produce two locomotion patterns: peristaltic and caterpillar crawling. Due its structural simplicity, low mass, wirelessly actuation compliant body the design of has potential address key challenges faced existing crawling robots. Experimental data were gathered evaluate performance in pipe. results validated mathematical models proposed estimate distance traveled crawler. shows for use exploration confined spaces.