Flipper-Style Locomotion Through Strong Expanding Modular Robots

Volume-changing robotic units present an exciting pathway for modular robotics. However, current attempts have been relatively limited, requiring tethers, complex fabrication or slow cycle times. In this letter, we AuxBots: auxetic-based approach to create high force, fast time self-contained modules. By driving the auxetic shell's expansion with a motor and leadscrew, these robots are capable of expanding their volume by 274% in 0.8 seconds maximum strength weight ratio 76x. These force properties enable us use modules conjunction flexible wire constraints get shape changing behavior independent locomotion. We demonstrate power system using limited number AuxBots mimic flipper-style locomotion mudskippers sea turtles. structures entirely untethered can still move forward even as some stall enter fault state, achieving key robotics goals versatility robustness.