Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved, flexible structure actuated by magnetic forces. The robot has a total mass of 102.63 g and demonstrates multimodal locomotion, achieving a maximum walking speed of 3.74 cm/s and a swimming speed of 0.82 cm/s. A compact and lightweight onboard control circuit enables wireless command transmission, while an integrated camera provides environmental perception. Through structural optimization and system-level integration, the robot successfully performs walking, steering, swimming, and payload transport without reliance on external infrastructure. The robot's dynamic performance and locomotion capabilities are systematically validated through experimental characterization.
@article{arxiv.2510.03660,
title = {An Amphibious Untethered Inchworm Soft Robot for Fast Crawling Locomotion},
author = {Mohammadjavad Javadi and Charlie Wadds and Robin Chhabra},
journal= {arXiv preprint arXiv:2510.03660},
year = {2025}
}