Bio‐Inspired Soft Robots for Confined Spaces: Double‐Mode Motion Regulation Based on Magnetic Self‐Locking and Contact Sensing

ABSTRACT Magnetic soft robots have demonstrated significant potential in confined space operations such as aero‐engine maintenance and minimally invasive medicine, owing to their wireless actuation and rapid shape deformation. However, the motion regulation of most magnetic robots requires complex multi‐axis magnetic devices or repeatedly reprogramming magnetic domains, which is difficult and inefficient in practical tasks. Herein, a double‐mode magnetic soft robot (DM‐MSR) based on a magnetic self‐locking structure is proposed, which achieves reversible crawling/rolling modes switching by a pulsed magnetic field. Specifically, through magnetic domain programming, the foldable squircle DM‐MSR exhibits controllable magnetic moment directions during deformation and utilize local reverse domains to lock. This enables low‐profile crawling motion and efficiency rolling motion with a speed‐to‐magnetic field ratio of 13.3 mm s −1 mT −1 (2 mm error). Furthermore, the micro‐structure piezoelectric films are embedded into DM‐MSR to perceive mechanical states such as rolling, collision, and drop. DM‐MSR can adapt to various terrains (sand, gravel, grassland, slopes), and achieves wireless trajectory transmission in a conventional environment through the built‐in micro‐control circuits and Bluetooth modules. The low‐magnetic‐field‐cost magnetic self‐locking design strategy proposed in this work provides a new technical path for the development of soft robots in fields such as aerospace detection and medical intervention.