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Yet most soft robots are largely confined to the contact surface due to their appendage\u2010free and single\u2010mode deformation, resulting in a low center\u2010of\u2010mass (CoM) and limited postural\/spatial mobility. Here, we create soft robots utilizing liquid crystal elastomer (LCE) arc fibers as appendages to emulate the complex maneuvers of their biological counterparts. Geometrically encoding combined torsional and flexural modes allows these robots to transcend surface constraints via a naturally elevated CoM and enhanced maneuverability. Leveraging the kinetics and thermodynamics of the fiber deformation\u2010recovery cycles, we integrate the encoded fibers into the 3D\u2010printed body with vertical and horizontal rotational symmetries, inspired by the locomotion of the octopus and the golden wheel spider, respectively. Our model can elevate, lower, tilt, and rotate with substantial postural freedom. It can also be engineered to roll at 1.3 body lengths per second, climb a 32.5\u00b0 incline, and traverse unstructured terrain. These feats are enabled by the large inertia generated by the inherent instability of the raised CoM and the effective ground anchoring of the appendages. These insights lay the foundation for customizable, high\u2010mobility soft robotic platforms that navigate complex real\u2010world environments.<\/jats:p>","DOI":"10.1002\/adma.73794","type":"journal-article","created":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T05:38:13Z","timestamp":1781933893000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["High Center\u2010of\u2010Mass, Multi\u2010Legged Soft Robots Powered by Geometrically Encoded Liquid Crystal Elastomer Arc Appendages"],"prefix":"10.1002","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6343-1532","authenticated-orcid":false,"given":"Jong Bin","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Materials Science and Engineering University of Pennsylvania  Philadelphia Pennsylvania USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Antonio Proctor","family":"Martinez","sequence":"additional","affiliation":[{"name":"Department of Materials Science and Engineering University of Pennsylvania  Philadelphia Pennsylvania USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9671-9508","authenticated-orcid":false,"given":"Yaoye","family":"Hong","sequence":"additional","affiliation":[{"name":"Department of Materials Science and Engineering University of Pennsylvania  Philadelphia Pennsylvania USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-9028-600X","authenticated-orcid":false,"given":"Ziyun","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Materials Science and Engineering University of Pennsylvania  Philadelphia Pennsylvania USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8982-0547","authenticated-orcid":false,"given":"Kun\u2010Yu","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Materials Science and Engineering University of Pennsylvania  Philadelphia Pennsylvania USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8834-3320","authenticated-orcid":false,"given":"Shu","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Materials Science and Engineering University of Pennsylvania  Philadelphia Pennsylvania USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,6,19]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598\u2010020\u201077873\u20107"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2022.12.030"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2870291"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2018.05.003"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010022\u201032123\u20104"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0098"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1038\/srep24224"},{"key":"e_1_2_10_9_1","doi-asserted-by":"crossref","unstructured":"C. T.Nguyen H.Phung P. T.Hoang et\u00a0al. \u201cA Novel Bioinspired Hexapod Robot Developed by Soft Dielectric Elastomer Actuators \u201d in2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)(IEEE 2017) 6233\u20136238.","DOI":"10.1109\/IROS.2017.8206526"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2017.10.010"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsmaterialslett.2c00991"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz6451"},{"key":"e_1_2_10_13_1","doi-asserted-by":"crossref","unstructured":"J. D.Carrico K. J.Kim andK. 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