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arXiv · 2510.09529

Self-Resetting Soft Ring Enables Autonomous and Continuous Leaping under Uniform Light

Fangjie Qi·Caizhi Zhou·Haitao Qing·Haoze Sun·Jie Yin
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Abstract

Jumping is an efficient locomotion strategy to traverse cluttered, uneven, or unstable environments in nature, yet replicating continuous, autonomous leaping in soft robots remains challenging due to limited energy storage and reliance on human intervention or latches. Here, we report a millimeter-scale, self-resetting soft ring that achieves repeated vertical and stable horizontal leaps under uniform infrared illumination without external control. The ring-shaped liquid crystal elastomer body twists to store elastic energy, which is suddenly released when a rigid tail strikes the ground, propelling the robot. During the airborne phase, the twisted body autonomously untwists, resetting for the next cycle. By tuning geometric asymmetry and the center of mass, the robot transitions between crawling, directional leaping, and vertical jumping. Optimized configurations yield vertical jumps exceeding 80 body heights and directional horizontal leaps over 3 body lengths. Beyond controlled motion on flat ground, the robot demonstrates resilient and robust locomotion across slopes, parallel hurdles, and diverse cluttered natural terrains including grass, wet sand, and mulch. This work establishes a new paradigm of twisting-enabled, photothermally powered soft robots capable of autonomous, continuous leaping, with potential applications in environmental navigation, swarm robotics, and unstructured terrain navigation.

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Fangjie Qi, Caizhi Zhou, Haitao Qing, Haoze Sun, Jie Yin. 2025-10-10. Self-Resetting Soft Ring Enables Autonomous and Continuous Leaping under Uniform Light. https://arxiv.org/abs/2510.09529

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