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Manta rays use wing-like pectoral fins for intriguing oscillatory swimming. It provides rich inspiration for designing potentially fast, efficient, and maneuverable soft swimming robots, which, however, have yet to be realized. It remains a grand challenge to combine fast speed, high efficiency, and high maneuverability in a single soft swimmer while using simple actuation and control. Here, we report leveraging spontaneous snapping stroke in the monostable flapping wing of a manta-like soft swimmer to address the challenge. The monostable wing is pneumatically actuated to instantaneously snap through to stroke down, and upon deflation, it will spontaneously stroke up by snapping back to its initial state, driven by elastic restoring force, without consuming additional energy. This largely simplifies designs, actuation, and control for achieving a record-high speed of 6.8 body length per second, high energy efficiency, and high maneuverability and collision resilience in navigating through underwater unstructured environments with obstacles by simply tuning single-input actuation frequencies. 

Soft shape-shifting materials offer enhanced adaptability in shape-governed properties and functionalities. However, once morphed, they struggle to reprogram their shapes and simultaneously bear loads for fulfilling multifunctionalities. Here, we report a dynamic spatiotemporal shape-shifting kirigami dome metasheet with high deformability and stiffness that responds rapidly to dynamically changing magnetic fields. The magnetic kirigami dome exhibits over twice higher doming height and 1.5 times larger bending curvature, as well as sevenfold enhanced structural stiffness compared to its continuous counterpart without cuts. The metasheet achieves omnidirectional doming and multimodal translational and rotational wave-like shape-shifting, quickly responding to changing magnetic fields within 2 milliseconds. Using the dynamic shape-shifting and adaptive interactions with objects, we demonstrate its applications in voxelated dynamic displays and remote magnetic multimodal directional and rotary manipulation of nonmagnetic objects without grasping. It shows high-load transportation ability of over 40 times its own weight, as well as versatility in handling objects of different materials (liquid and solid), sizes, shapes, and weights. 

Abstract Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of these approaches have achieved the ability to seamlessly transform into a multitude of volumetric shapes post-fabrication using a relatively simple actuation and control mechanism. Taking inspiration from thick origami and hierarchies in nature, we present a hierarchical construction method based on polyhedrons to create an extensive library of compact origami metastructures. We show that a single hierarchical origami structure can autonomously adapt to over 10³versatile architectural configurations, achieved with the utilization of fewer than 3 actuation degrees of freedom and employing simple transition kinematics. We uncover the fundamental principles governing theses shape transformation through theoretical models. Furthermore, we also demonstrate the wide-ranging potential applications of these transformable hierarchical structures. These include their uses as untethered and autonomous robotic transformers capable of various gait-shifting and multidirectional locomotion, as well as rapidly self-deployable and self-reconfigurable architecture, exemplifying its scalability up to the meter scale. Lastly, we introduce the concept of multitask reconfigurable and deployable space robots and habitats, showcasing the adaptability and versatility of these metastructures. 

Abstract Materials that exhibit varied optical responses to different modes of mechanical stimuli are attractive for complex sensing and adaptive functionalities. However, most mechanochromic materials are fabricated from films or fibers with limited actuation modes. Here, hollow tubes of a symmetric sheath are created using cholesteric liquid crystal elastomers (CLCEs) at the sub‐millimeter scale. The oligomeric precursor is sheared in an elastomeric microchannel to form uniform thickness, overcoming gravity effect and Plateau‐Rayleigh instability. In addition, the coloration is achieved to be faster and have higher reflectivity compared to that of solid fibers. The tube can undergo axial, circumferential, and radial strains upon extension and inflation. The combination of molecular anisotropy and geometry of the tube enables highly sensitive mechanochromic responses in both azimuthal and axial directions: inflation causes red‐to‐violet shift (≈220 nm) at a circumferential strain of 0.57. The inflation of a bent tube generates another mechanochromic mode with a higher sensitivity to strain. Finally, display of 26 alphabets is achieved using 5 tubes, of which the positions can be reconfigured, and curvature‐dependent 3D photonic skins are demonstrated from tubes wrapped around 3D objects. The multi‐mode mechanochromic tubes will find applications for soft robotics, adaptive displays, wearable sensors, and spectrometers. 

Abstract Achieving multicapability in a single soft gripper for handling ultrasoft, ultrathin, and ultraheavy objects is challenging due to the tradeoff between compliance, strength, and precision. Here, combining experiments, theory, and simulation, we report utilizing angle-programmed tendril-like grasping trajectories for an ultragentle yet ultrastrong and ultraprecise gripper. The single gripper can delicately grasp fragile liquids with minimal contact pressure (0.05 kPa), lift objects 16,000 times its own weight, and precisely grasp ultrathin, flexible objects like 4-μm-thick sheets and 2-μm-diameter microfibers on flat surfaces, all with a high success rate. Its scalable and material-independent design allows for biodegradable noninvasive grippers made from natural leaves. Explicitly controlled trajectories facilitate its integration with robotic arms and prostheses for challenging tasks, including picking grapes, opening zippers, folding clothes, and turning pages. This work showcases soft grippers excelling in extreme scenarios with potential applications in agriculture, food processing, prosthesis, biomedicine, minimally invasive surgeries, and deep-sea exploration. 

Bistable soft swimmers can achieve both high-speed and high-efficient performances comparable to their biological counterparts. 

Abstract Cellular solids composed of a network of interconnected pores offer low‐density and high strength‐to‐weight ratio as exemplified by wood, bones, corks, and shells. However, the slender edges and low connectivity of the structs in cellular lattices make them vulnerable to buckle, fracture, or collapse. Here, by taking advantage of the continuity of a thin film that can follow curvatures and dissipate energy, shellular materials are created by dip coating a wireframe of the primitive triply periodic minimal surface (TPMS) with an aqueous solution of lyotropic liquid crystalline graphene oxide (GO)/polymer composites. Regulated by surface tension, GO nanosheets align on the polymer soap film as the stress builds up during drying. When the wireframe mesh density is low, the shellular material is film‐dominated, demonstrating superior mechanical strength (384.30 Nm kg⁻¹) and high specific energy absorption (1.59 kJ kg⁻¹) yet lightweight (equivalent density, 0.063 g cm⁻³), with an energy absorption rate comparable to that of carbon nanotube‐based lattices but a lower equivalent density. The study offers insights into designing lightweight yet high‐strength structural materials that also function as impact energy absorbers. 

Soft robots that can harvest energy from environmental resources for autonomous locomotion is highly desired; however, few are capable of adaptive navigation without human interventions. Here, we report twisting soft robots with embodied physical intelligence for adaptive, intelligent autonomous locomotion in various unstructured environments, without on-board or external controls and human interventions. The soft robots are constructed of twisted thermal-responsive liquid crystal elastomer ribbons with a straight centerline. They can harvest thermal energy from environments to roll on outdoor hard surfaces and challenging granular substrates without slip, including ascending loose sandy slopes, crossing sand ripples, escaping from burying sand, and crossing rocks with additional camouflaging features. The twisting body provides anchoring functionality by burrowing into loose sand. When encountering obstacles, they can either self-turn or self-snap for obstacle negotiation and avoidance. Theoretical models and finite element simulation reveal that such physical intelligence is achieved by spontaneously snapping-through its soft body upon active and adaptive soft body-obstacle interactions. Utilizing this strategy, they can intelligently escape from confined spaces and maze-like obstacle courses without any human intervention. This work presents a de novo design of embodied physical intelligence by harnessing the twisting geometry and snap-through instability for adaptive soft robot-environment interactions.