Science Robotics

Supplementary Materials

The PDF file includes:

  • Fig. S1. XRD spectra of GO after metal ion intercalation and after first-stage annealing.
  • Fig. S2. Photos and SEM images of cellulose paper, GO-cellulose template, C/metal intermediate products, and metal replicas.
  • Fig. S3. SEM images and EDS analysis of Ag products after the calcination in air at different temperatures.
  • Fig. S4. SEM images and EDS analysis of Au products after the calcination in air at different temperatures.
  • Fig. S5. SEM images and EDS analysis of Pt products after the calcination in air at different temperatures.
  • Fig. S6. Raman spectra of Pt replicas after the calcination in air at different temperatures.
  • Fig. S7. Cross-sectional SEM images of Ag, Au, and Pt products after the calcination in air at different temperatures.
  • Fig. S8. Thickness, dimension shrinkage, and mechanical properties of noble metal replicas.
  • Fig. S9. Weight changes of Pt-GO-cellulose and Pt-cellulose origamis at different annealing/calcination stages.
  • Fig. S10. EDS mapping analysis of Pt products from GO-cellulose and cellulose-only templates.
  • Fig. S11. TEM image of annealed Pt nanocrystals from Pt-GO-cellulose template.
  • Fig. S12. Engineering thickness and electrical conductivity of Pt-elastomer backbones.
  • Fig. S13. Stress-strain curves of cellulose papers, PDOT-PSS–infiltrated papers, MWNT-infiltrated papers, copper film on silicon, planar Pt replica, and Pt-PDMS films.
  • Fig. S14. Relative resistance changes of a flat Pt-PDMS film under repetitive 90° bending.
  • Fig. S15. Photos of the bellows tubes of paper predecessor and the elastomer-stabilized Pt replica.
  • Fig. S16. Design of single-bellows Pt robot with friction feet.
  • Fig. S17. SEM image of commercial cellulose paper.
  • Fig. S18. Digital photo of pneumatic single-bellows paper and Pt robots.
  • Fig. S19. Performances of Pt robot, paper robot, and AF robot.
  • Fig. S20. Fabrication process of pneumatic dual-bellows Pt robot.
  • Fig. S21. Design of dual-bellows Pt robot with friction feet.
  • Fig. S22. Return loss of dual-bellows Pt robot with a broad bandwidth from 0 to 1200 MHz.
  • Fig. S23. Simulation results of reconfigurable dipole Pt antenna (i.e., dual-bellows Pt robot).
  • Fig. S24. Strain sensing of flat Pt-PDMS composites with different amounts of carbon.
  • Fig. S25. Return loss of dipole antennas made from flat Pt-PDMS films with different amounts of carbon.
  • Fig. S26. Relative resistance changes under various uniaxial strains of various dual-bellows robots, including Pt robot, AF robot, MWNT robot, and PDOT robot.
  • Fig. S27. Return loss of different reconfigurable dipole antennas (i.e., dual-bellows robots), including Pt robot, PDOT robot, MWNT robot, and AF robot.
  • Fig. S28. SEM image of Nd-Fe-B particles.
  • Fig. S29. Return loss of hexagonal honeycomb Pt-elastomer origami.
  • Fig. S30. Assembly of an enclosed bellows Pt tube.
  • Table S1. Comparison among various possible backbone materials.
  • Legends for movies S1 to S5

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Comparison of gas pressure between paper and Pt robots.
  • Movie S2 (.mp4 format). Origami Pt robot with built-in resistive heating.
  • Movie S3 (.mp4 format). Origami Pt robot with built-in strain sensing.
  • Movie S4 (.mp4 format). Wireless communication of origami Pt robots.
  • Movie S5 (.mp4 format). Magnetically actuated Pt-(Nd-Fe-B) tetrapod robot.

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