{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T03:52:28Z","timestamp":1784173948703,"version":"3.55.0"},"reference-count":40,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"63","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2022,2,23]]},"abstract":"<jats:p>Locomotion of soft robots typically relies on control of multiple inflatable actuators by electronic computers and hard valves. Soft pneumatic oscillators can reduce the demand on controllers by generating complex movements required for locomotion from a single, constant input pressure, but either have been constrained to low rates of flow of air or have required complex fabrication processes. Here, we describe a pneumatic oscillator fabricated from flexible, but inextensible, sheets that provides high rates of airflow for practical locomotion by combining three instabilities: out-of-plane buckling of the sheets, kinking of tubing attached to the sheets, and a system-level instability resulting from connection of an odd number of pneumatic inverters made from these sheets in a loop. This device, which we call a \u201cbuckling-sheet ring oscillator\u201d (BRO), directly generates movement from its own interaction with its surroundings and consists only of readily available materials assembled in a simple process\u2014specifically, stacking acetate sheets, nylon film, and double-sided tape, and attaching an elastomeric tube. A device incorporating a BRO is capable of both translational and rotational motion over varied terrain (even without a tether) and can climb upward against gravity and downward against the buoyant force encountered under water.<\/jats:p>","DOI":"10.1126\/scirobotics.abg5812","type":"journal-article","created":{"date-parts":[[2022,2,9]],"date-time":"2022-02-09T18:55:50Z","timestamp":1644432950000},"source":"Crossref","is-referenced-by-count":85,"title":["A buckling-sheet ring oscillator for electronics-free, multimodal locomotion"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7878-1981","authenticated-orcid":true,"given":"Won-Kyu","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0096-0285","authenticated-orcid":true,"given":"Daniel J.","family":"Preston","sequence":"additional","affiliation":[{"name":"Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA."},{"name":"Wyss Institute for Biologically Inspired Engineering, 3 Blackfan Circle, Boston, MA 02115, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0771-5407","authenticated-orcid":true,"given":"Markus P.","family":"Nemitz","sequence":"additional","affiliation":[{"name":"Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA."},{"name":"Wyss Institute for Biologically Inspired Engineering, 3 Blackfan Circle, Boston, MA 02115, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2002-7473","authenticated-orcid":true,"given":"Amit","family":"Nagarkar","sequence":"additional","affiliation":[{"name":"Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8361-8815","authenticated-orcid":true,"given":"Arthur K.","family":"MacKeith","sequence":"additional","affiliation":[{"name":"Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8275-7610","authenticated-orcid":true,"given":"Benjamin","family":"Gorissen","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0399-2183","authenticated-orcid":true,"given":"Nikolaos","family":"Vasios","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7859-7463","authenticated-orcid":true,"given":"Vanessa","family":"Sanchez","sequence":"additional","affiliation":[{"name":"Wyss Institute for Biologically Inspired Engineering, 3 Blackfan Circle, Boston, MA 02115, USA."},{"name":"School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5787-4863","authenticated-orcid":true,"given":"Katia","family":"Bertoldi","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5114-0519","authenticated-orcid":true,"given":"L.","family":"Mahadevan","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA."},{"name":"Department of Physics, Department of Organismic and Evolutionary Biology, Harvard University, 17 Oxford Street, Cambridge, MA 02138, USA."},{"name":"Kavli Institute for Bionano Science and Technology, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9451-2442","authenticated-orcid":true,"given":"George M.","family":"Whitesides","sequence":"additional","affiliation":[{"name":"Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA."},{"name":"Wyss Institute for Biologically Inspired Engineering, 3 Blackfan Circle, Boston, MA 02115, USA."},{"name":"Kavli Institute for Bionano Science and Technology, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaw5496"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1820672116"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7986"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_2_6_2","first-page":"4258","article-title":"Soft robotics","volume":"57","author":"Whitesides G. M.","year":"2018","unstructured":"G. M. Whitesides, Soft robotics. Proc. Natl. Acad. Sci. U.S.A. 57, 4258\u20134273 (2018).","journal-title":"Proc. Natl. Acad. Sci. U.S.A."},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0008"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1039\/C3LC51083B"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1116564108"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0078"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0048"},{"key":"e_1_3_2_12_2","doi-asserted-by":"crossref","unstructured":"C. C. Futran S. Ceron B. C. MacMurray R. F. Shepherd K. H. Petersen Leveraging fluid resistance in soft robots in 2018 IEEE International Conference on Soft Robotics (Robosoft) (IEEE 2018) pp. 473\u2013478.","DOI":"10.1109\/ROBOSOFT.2018.8405371"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat2874"},{"key":"e_1_3_2_14_2","doi-asserted-by":"crossref","unstructured":"F. Berlinger M. Duduta H. Gloria D. Clarke R. Nagpal R. 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Reddy An Introduction to the Finite Element Method (Mcgraw-Hill series in mechanical engineering McGraw-Hill Higher Education ed. 3 2006) p. xvi 766 pp."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.abg5812","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T13:06:17Z","timestamp":1705410377000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.abg5812"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,2,23]]},"references-count":40,"journal-issue":{"issue":"63","published-print":{"date-parts":[[2022,2,23]]}},"alternative-id":["10.1126\/scirobotics.abg5812"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.abg5812","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,2,23]]},"article-number":"eabg5812"}}