Design and Control of an Integrated Bionic Soft Robot with Electroadhesive Feet and Embedded Sensing for Multi-Terrain Locomotion

This study addresses the core bottlenecks of microrobot systems in terms of locomotion stability, payload capacity, and environmental adaptability and proposes a cross-shaped modular magnetically driven bionic inchworm robot, whose core innovations are concentrated in two dimensions: device structural design and mechanism analysis. The robot is fabricated from a polyimide (PI) matrix, polydimethylsiloxane (PDMS) foot pads, and embedded N52 permanent magnets and achieves precise actuation via magnetic coupling. In terms of device design, this work proposes a cross-shaped configuration with 45°-oriented embedded magnets, which achieves convex angles of 65° and 38° under a uniaxial z -axis magnetic field. Its modular structure is compatible with four typical transportation modes, driven by x - and y -axis biased square-wave magnetic fields, with a maximum payload up to 9 times its own weight. It integrates a plantar electroadhesive module and an in situ embedded carbon black grease-based sensing system, enabling stable climbing on a 30° slope and closed-loop motion control. In terms of mechanism analysis, a magneto-solid coupling kinematic model of the robot and the force balance criteria for the “adsorption-extension” gait are established, the nonlinear variation law between payload and locomotion speed is revealed, and a closed-loop control strategy of “road condition sensing-magnet field regulation─speed equalization” is constructed. This study verifies the excellent motion controllability, load-bearing performance, and terrain adaptability of the robot, providing a high-performance technical solution for micro logistics and detection operations in unstructured environments.