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The geometry of multisegmented thermo-responsive gel robots was manipulated to break symmetry and support locomotion. 

The gaits of locomoting systems are typically designed to maximize some sort of efficiency, such as cost of transport or speed. Equally important is the ability to modulate such a gait to effect turning maneuvers. For drag-dominated systems, geometric mechanics provides an elegant and practical framework for both ends—gait design and gait modulation. Within this framework, “constraint curvature” maps can be used to approximate the net displacement of robotic systems over cyclic gaits. Gait optimization is made possible under a previously reported “soap-bubble” algorithm. In this work, we propose both local and global gait morphing algorithms to modify a nominal gait to provide single-parameter steering control. Using a simplified swimmer, we numerically compare the two approaches and show that for modest turns, the local approach, while suboptimal, nevertheless proves effective for steering control. A potential advantage of the local approach is that it can be readily applied to soft robots or other systems where local approximations to the constraint curvature can be garnered from data, but for which obtaining an exact global model is infeasible. 

Technological convergence network (TCN) is an effective method to identify the advancement of technology convergence. However, the previous TCN investigations are limited to a single level of IPC (abbreviation of International Patent Classification) rather than different IPC hierarchies, which can only provide decision support for policy-makers with one dimension instead of various ones. In this study, we propose a new approach to construct TCNs across different IPC hierarchies based on technology co-classification analysis, and further identify key technology fields by employing the indicator of betweenness centrality (BC) in the TCNs from any IPC hierarchy. This study makes two important contributions. First, theoretically, our study is to contribute to understanding the advancement of technological convergence from various IPC hierarchies, rather than a single IPC level. Second, methodologically, the new approach we propose can benefit decision-makers serving at various levels of technology management agencies. We conclude possible implications and future directions.