Science Robotics

Supplementary Materials

The PDF file includes:

  • Fig. S1. Magnetic assembly stage for quadrupole modules.
  • Fig. S2. Assemble process of a “pi” shape using the quadrupole modules in the assembly stage.
  • Fig. S3. Multipole expansion of the quadrupole structures.
  • Fig. S4. Strong poles and weak poles.
  • Fig. S5. Magnetic potential energy map of two quadrupole modules with varying angle θ.
  • Fig. S6. Ising model of magnetic quadrupole assemblies.
  • Fig. S7. Design space of the magnetization of a “small rocket”.
  • Fig. S8. Dynamic performance of the auxetic material assembled by quadrupole modules.
  • Fig. S9. Single-segment bending motion and collapse of soft metamaterials under large magnetic fields.
  • Fig. S10. Stability of quadrupole assemblies with mechanical disturbances.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Assembly process of magnetic quadrupole modules.
  • Movie S2 (.mp4 format). Actuation of programmable soft metamaterials assembled by magnetic quadrupole modules.

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