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Bilayer bending based soft actuators are widely utilized in soft robotics forlocomotion and object gripping. However, studies on soft actuators based onbilayer doming remain largely unexplored despite the often-observed dome-likeshapes in undersea animals such as jellyfish and octopus suction cup. Here,based on the simplified model of bending-induced doming of circular bilayerplates with mismatched deformation, we explore the design of soft domingactuator upon pneumatic actuation and its implications in design ofmultifunctional soft machines. The bilayer actuator is composed of patternedembedded pneumatic channel on top for radial expansion and a solid elastomericlayer on bottom for strain-limiting. We show that both the cavity volume andbending angle at the rim of the actuated dome can be controlled by tuning theheight gradient of the pneumatic channel along the radial direction. Wedemonstrate its potential multifunctional applications in swimming, adhesion,and gripping, including high efficient jellyfish-inspired underwater softrobots with locomotion speed of 84 cm/min and rotation-based soft grippers withlow energy cost by harnessing the large rim bending angle, as well asoctopus-inspired soft adhesion actuators with strong and switchable adhesionforce of over 10 N by utilizing the large cavity volume.

Design of Multifunctional Soft Doming Actuator for Soft Machines