Silva, BenjamínGovan, JosephZagal, Juan CristóbalGrossi, BrunoRoldan, AlejandroNunez, Alvaro S.Acuña, DanielPalza, Humberto2024-05-172024-05-172023Materials & Design Volume 233, September 2023, 112262https://hdl.handle.net/11447/8838Several efforts have been made to develop walking smart soft robots through different strategies such as the use of complex aligned magneto-active materials. Here, we show a simple approach for the design of a smart soft robot using an elastomer film with randomly distributed ferrimagnetic nanoparticles able to be remotely controlled by a magnetic field. The magneto-active robot has a rotating-square kirigami geometry resulting in a flexible smart auxetic metamaterial (i.e., a negative Poisson-ratio structure). Alongside the standard translational locomotion on a smooth-surface under a steady magnetic force, the auxetic kirigami structure mimics the crawling-locomotion of worms over a high-roughness surface under an oscillatory horizontal field, even climbing vertical-obstacles. A theoretical understanding for this new locomotion mechanism stresses the relevance of the kirigami metamaterial design and the ferrimagnetic response of the particles. The soft robot can also transport a payload having weights higher than the weight of the smart elastomeric film. The smart auxetic structure further presents a rolling locomotion by properly orienting the magnetic field, meaning multiple remote locomotion mechanisms.9 p.enAtribución-NoComercial-CompartirIgual 3.0 Chile (CC BY-NC-SA 3.0 CL)Magneto-active materialsSoft robotsMechanical metamaterialsArticlehttps://doi.org/10.1016/j.matdes.2023.112262