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Electrically-driven soft robots based on piezoelectric actuators may enablecompact form factors and maneuverability in complex environments. In most priorwork, piezoelectric actuators are used to control a single degree of freedom.In this work, the coordinated activation of five independent piezoelectricactuators, attached to a common metal foil, is used to implementinchworm-inspired crawling motion in a robot that is less than 0.5 mm thick.The motion is based on the control of its friction to the ground through therobot's shape, in which one end of the robot (depending on its shape) isanchored to the ground by static friction, while the rest of its body expandsor contracts. A complete analytical model of the robot shape, which includesgravity, is developed to quantify the robot shape, friction, and displacement.After validation of the model by experiments, the robot's five actuators arecollectively sequenced for inchworm-like forward and backward motion.

Piezoelectric Soft Robot Inchworm Motion by Tuning Ground Friction through Robot Shape: Quasi-Static Modeling and Experimental Validation