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. 2023 Apr 11;6:0116. doi: 10.34133/research.0116

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Fig. 4. — Bistable crawling robot. (A) Prototype of the bistable crawling robot. An untethered 3-leg robot employing the bistable actuator, with a carry-on lithium battery and a carry-on control circuit is fabricated. (B) Directional locomotion of robot: from stable 1 to stable 2, the bistable actuator switches downward (3.75 V), during which the rear feet are pinned to ground due to the sharp corner while the front foot moves forward; from stable 2 to stable 1, the bistable actuator switches upward (−3.75 V), during which the front foot is pinned to ground while the rear feet move forward. (C) Measured displacement and velocity of the center point of the robot. The sign of the applied voltage is distinguished by the background color. (D) Crawling on sandpaper with different grit numbers (240, 320, and 400).