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To overcome these limitations, a novel multimodal Tasering Twin Soft Robot (TTSR), carrying two SCRs, capable of 1) passive flight and 2) wall climbing to a desired location by deploying SCRs once reached the target is proposed. For satisfying both tasks, reconfigurable design of SCRs using a novel bistable mechanism and detaching mechanism based on a shape\u2010memory alloy for deploying SCRs is proposed. Each SCR is driven by two dielectric elastomer actuators (DEA) and three electroadhesive (EA) feet. To demonstrate multimodality, the TTSR with two SCRs is launched by pneumatic pressure and flown over an obstacle. While flying, the SCRs are folded compactly to reduce the air drag and perch on a wall 3\u2009m away (50 times of body length) within 0.64\u2009s. After perching, the SCRs reconfigure themselves for crawling and separated from each other. After that, the SCRs crawl, performing planar motion, and reach predefined locations on the wall. Moreover, the SCR can move across 15\u00b0\u2010slope dihedral surfaces and inverted surface.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200223","type":"journal-article","created":{"date-parts":[[2022,11,27]],"date-time":"2022-11-27T23:12:29Z","timestamp":1669590749000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8957-4876","authenticated-orcid":false,"given":"Natthapol","family":"Sriratanasak","sequence":"first","affiliation":[{"name":"Department of Mechanical, Materials and Manufacturing Engineering University of Nottingham  Nottingham NG7 2RD UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3595-0933","authenticated-orcid":false,"given":"Dragos","family":"Axinte","sequence":"additional","affiliation":[{"name":"Department of Mechanical, Materials and Manufacturing Engineering University of Nottingham  Nottingham NG7 2RD UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Dong","sequence":"additional","affiliation":[{"name":"Department of Mechanical, Materials and Manufacturing Engineering University of Nottingham  Nottingham NG7 2RD UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Abdelkhalick","family":"Mohammad","sequence":"additional","affiliation":[{"name":"Department of Mechanical, Materials and Manufacturing Engineering University of Nottingham  Nottingham NG7 2RD UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matteo","family":"Russo","sequence":"additional","affiliation":[{"name":"Department of Mechanical, Materials and Manufacturing Engineering University of Nottingham  Nottingham NG7 2RD UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luca","family":"Raimondi","sequence":"additional","affiliation":[{"name":"Department of Mechanical, Materials and Manufacturing Engineering University of Nottingham  Nottingham NG7 2RD UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2022,11,27]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1116564108"},{"key":"e_1_2_9_3_1","doi-asserted-by":"crossref","unstructured":"Y.Zhang L.Ge J.Zou H.Xu G.Gu IEEE\/RSJ. 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