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Abstract The stiffness of robot legs greatly affects legged locomotion performance; tuning that stiffness, however, can be a costly and complex task. In this paper, we directly tune the stiffness of jumping robot legs using an origami-inspired laminate design and fabrication method. In addition to the stiffness coefficient described by Hooke’s law, the nonlinearity of the force-displacement curve can also be tuned by optimizing the geometry of the mechanism. Our method reduces the number of parts needed to realize legs with different stiffness while simplifying manual redesign effort, lowering the cost of legged robots while speeding up the design and optimization process. We have fabricated and tested the leg across six different stiffness profiles that vary both the nonlinearity and coefficient. Through a vertical jumping experiment actuated by a DC motor, we also show that proper tuning of the leg stiffness can result in an 18% improvement in lift-off speed and an increase of 19% in peak power output.
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This content will become publicly available on August 29, 2026
Spatially patterned stiffness variation in a light-triggered jumper for symmetry breaking and high snap-through efficiency
The nonlinear strain response of soft material–based snap-through systems enables amplified and accelerated force output. However, efficiency of snap-through energy release is challenging to improve because of the inherent trade-off between initial curvature and stiffness. Here, spatial programming of stiffness variation in the azobenzene-functionalized liquid-crystalline polymer (Azo-LCP) addresses this limitation and achieves efficient photomechanical jumping. Introduction of stiffness mismatch induced localized curvature, which preserved the initial curvature and simultaneously enhanced photomechanical strain responsivity. By programming for symmetry of stiffness variation, we achieved directional or vertical jumping via strategic placement of the rigid region, with corresponding stress accumulation behaviors corroborated by finite element simulations. Integration of patterned stiffness variation with geometric asymmetry enabled both vertical and horizontal jumping within a single structure, without compromising performance. This dual-mode jumper also demonstrated sequential and consecutive jumps under continuous light exposure.
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- Award ID(s):
- 2428643
- PAR ID:
- 10639093
- Publisher / Repository:
- Science
- Date Published:
- Journal Name:
- Science Advances
- Volume:
- 11
- Issue:
- 35
- ISSN:
- 2375-2548
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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