A cylindrical shaped marine invertebrate ascidian has muscle fibers surrounding its body, which induce the contraction motion when the animal senses the external stimuli. As inspired by its cylindrical shape and the contraction motion of the ascidian, we introduce a soft robot that resembles this water animal. In this letter, we first discuss the design of the robot that can be magnetically actuated and create different motions due to different magnetic moments for each segment of the robot. The crawling motion of the robot is presented with a sinusoidal waveform of the magnetic field and we demonstrate the utility of our bio-inspired soft robot for transporting a millimeter-sized object and releasing a drug in a specific location.

中文翻译：

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受海鞘启发的软机器人，可以爬行，翻滚和放置物体

圆柱形海洋无脊椎动物海鞘在其身体周围具有肌肉纤维，当动物感觉到外部刺激时，它们会引起收缩运动。受其圆柱形状和海鞘收缩运动的启发，我们引入了一种类似于这种水生动物的软机器人。在这封信中，我们首先讨论可以被磁驱动的机器人的设计，并且由于机器人每个部分的磁矩不同而产生不同的运动。机器人的爬行运动以磁场的正弦波形呈现，我们展示了我们的生物启发式软机器人在运送毫米大小的物体并在特定位置释放药物的实用性。