{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T06:45:51Z","timestamp":1773989151237,"version":"3.50.1"},"reference-count":56,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2023,1,18]],"date-time":"2023-01-18T00:00:00Z","timestamp":1674000000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52075556"],"award-info":[{"award-number":["52075556"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013142","name":"Key Research and Development Project of Hainan Province","doi-asserted-by":"publisher","award":["2021SK2016"],"award-info":[{"award-number":["2021SK2016"]}],"id":[{"id":"10.13039\/501100013142","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2023,2]]},"abstract":"<jats:sec><jats:label\/><jats:p>Inchworm\u2010like robots have been increasingly investigated in recent years. However, most studies have focused on one or several locomotion modes, lacking in terms of inverted climbing, movement with a heavy load, and climbing a vertical plane. Herein, an inchworm\u2010like soft robot is actuated with multimodal locomotion using an acrylic stick\u2010constrained dielectric elastomer actuator (ASCDEA). By assembling the ASCDEA with a flexible support frame, a soft saddle\u2010like shape body is designed to provide the shape deformation ability for the robot. This design enables the robot to move under a heavy load. Two electroadhesion actuators are designed to implement the anchoring action. Additionally, a coordination control strategy is developed to synchronize the shape deformation and electroadhesion for multimodal locomotion. Experimental results confirm that the designed robot can move at a maximum velocity of 39.55\u2009mm\u2009s<jats:sup>\u22121<\/jats:sup> (0.53 body length\u2009s<jats:sup>\u22121<\/jats:sup>) on an inverted plane. Moreover, the robot is capable of multimodal locomotion, including inverted climbing, vertical climbing, horizontal crawling, turning locomotion, and rapid movement with a heavy load. The developed soft robot can navigate through a confined horizontal tunnel while carrying a payload, cross a gap, circumvent obstacles, and is particularly robust owing to its compliance.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200209","type":"journal-article","created":{"date-parts":[[2023,1,18]],"date-time":"2023-01-18T22:42:41Z","timestamp":1674081761000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":36,"title":["Inchworm\u2010Like Soft Robot with Multimodal Locomotion Using an Acrylic Stick\u2010Constrained Dielectric Elastomer Actuator"],"prefix":"10.1002","volume":"5","author":[{"given":"Tete","family":"Hu","sequence":"first","affiliation":[{"name":"State Key Laboratory of High Performance Complex Manufacturing School of Mechanical and Electrical Engineering Central South University  Changsha 410083 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