Science Robotics

Supplementary Materials

The PDF file includes:

  • Text S1. Mechanics of thin nematic elastomer bilayers.
  • Fig. S1. LCE and structural tile ink rheology.
  • Fig. S2. DSC curves for the LCE inks.
  • Fig. S3. LCE alignment.
  • Fig. S4. Actuation response of unidirectional printed LCEs.
  • Fig. S5. Bending angle as a function of temperature.
  • Fig. S6. Bending angle as a function of hinge dimensions.
  • Fig. S7. Valley fold bending angles.
  • Fig. S8. Repeatable hinge folding.
  • Fig. S9. Triangulated polyhedron actuation sequence at ambient temperature.
  • Fig. S10. Free-body diagrams of self-propelling rollbot.
  • Fig. S11. Torque requirements of hinges for self-propelling rollbot.
  • Fig. S12. Torque measurement experimental setup.
  • Fig. S13. Torque measurements for hinges of varied dimensions.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Actuation of square twist origami unit.
  • Movie S2 (.mp4 format). Reversible, sequential actuation of hinges.
  • Movie S3 (.mp4 format). Actuation sequence of triangulated polyhedron.
  • Movie S4 (.mp4 format). Passively controlled propulsion of soft robot.

Files in this Data Supplement: