DOI: 10.5061/dryad.hdr7sqvsg
title: Data from: Bistable soft jumper capable of fast response and high take-off velocity

description: In contrast to jumping robots made from rigid materials, soft jumpers
 composed of compliant and elastically deformable materials exhibit
 superior impact resistance and mechanically robust functionality. However,
 recent efforts to create stimuli-responsive jumpers from soft materials
 are limited in their response speed, take-off velocity, and travel
 distance. Here, we report a magnetic-driven, ultrafast bistable soft
 jumper that exhibits the highest jumping capability (jumping over 108 body
 heights with a take-off velocity of over 2 m/s) and the fastest response
 time (less than 15 ms) compared to previous soft jumping robots. The
 snap-through transitions between bistable states form a repeatable loop
 that harnesses the ultrafast release of stored elastic energy. Based on
 the dynamic analysis, the multimodal locomotion of the bistable soft
 jumper can be realized: the interwell mode of jumping and the intrawell
 mode of hopping. These modes are controlled by adjusting the duration and
 strength of the magnetic field, which endows the bistable soft jumper with
 robust locomotion capabilities. In addition, it is capable of jumping
 omnidirectionally with tunable heights and distances. To demonstrate its
 capability in complex environment, a realistic pipeline with amphibious
 terrain was established. The jumper successfully finished the simulative
 task of cleansing polluted water through the pipeline. The design
 principle and actuating mechanism of the bistable soft jumper can be
 further extended for other flexible systems.
description: # Data from: Bistable soft jumper capable of fast response and high
 take-off velocity
 [https://doi.org/10.5061/dryad.hdr7sqvsg](https://doi.org/10.5061/dryad.hdr7sqvsg) GENERAL INFORMATION: 1\. Title of Dataset: Dataset for *Bistable soft jumper capable of fast response and high take-off velocity* published in ***Science Robotics*** 2\. Authors: Daofan Tang1,2,†, Chengqian Zhang1,3,†, Chengfeng Pan1,2, Hao Hu1,2, Haonan Sun1,2, Huangzhe Dai 1,2 , Jianzhong Fu1,2, Carmel Majidi4* & Peng Zhao1,2 3\. Affiliations: 1 The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China 2 The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China 3 Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, 310027, Hangzhou, China 4 Soft Machines Lab, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA †* These authors contributed equally to this work: Daofan Tang, Chengqian Zhang* \** Corresponding Author. Email: [zhangcq@zju.edu.cn](mailto:zhangcq@zju.edu.cn); [cmajidi@andrew.cmu.edu](mailto:cmajidi@andrew.cmu.edu); [pengzhao@zju.edu.cn](mailto:pengzhao@zju.edu.cn)* 4\. Geographic location of data collection: Hangzhou, China **FILE OVERVIEW:** **File 1 Name: data of Fig.2B.xlsx** File 1 Description: Data of the experiment and simulation for the length-to height ratio of the bistable soft jumper. **File 2 Name: data of Fig.2D.xlsx** File 2 Description: Data of the simulated and calculated energy of structures with different structural heights *H* as a function of the flapping angle *θ*. **File 3 Name: data of Fig.2E.xlsx** File 3 Description: Data of the calculated torque of structures with different structural heights *H* as a function of the flapping angle *θ*. **File 4 Name: data of Fig.2F.xlsx** File 4 Description: Data of the measured critical magnetic torque and the simulated maximum internal torque. **File 5 Name: data of Fig.2G.xlsx** File 5 Description: Data of the calculated energy of structures with different crease thicknesses *t.* **File 6 Name: data of Fig.2H.xlsx** File 6 Description: Data of the calculated energy of structures with different crease widths *w.* **File 7 Name: data of Fig.2I.xlsx** File 7 Description: Data of the parameter map illustrating the influences of crease thickness *t* and structural height *H* on the proportion of energy barrier *η*, the results are calculated from the analytical model. **File 8 Name: data of Fig.3A.xlsx** File 8 Description: Data of the experimental and theoretical results of the stable state transition based on the strength and duration of the magnetic field. The state “0” means that the stable state has not been switched, while the state “1” means that the state has been switched. **File 9 Name: data of Fig.3C.xlsx** File 9 Description: Data of the actuating magnetic field and the jumping heights of the bistable soft jumper during hopping. **File 10 Name: data of Fig.3E.xlsx** File 10 Description: Data of the velocity of edge and center parts of the robot as a function of time *t*. The data were obtained by a high-speed camera. **File 11 Name: data of Fig.3F.xlsx** File 11 Description: Data of the jumping heights of the bistable soft jumper as a function of the magnetic field strength upon different actuating time. The durations of the actuating time are 10 ms, 15 ms and 20 ms, respectively. **File 12 Name: data of Fig.3G.xlsx** File 12 Description: Data of the jumping heights of the bistable soft jumpers with different materials of creases. The materials are 10% PDMS, 30% PDMS and 50% PDMS, respectively. **File 13 Name: data of Fig.3H.xlsx** File 13 Description: Data of the jumping heights, height ratios and take-off velocities of the bistable soft jumpers with different sizes. **File 14 Name: data of Fig.4D.xlsx** File 14 Description: Data of the jumping heights and jumping distances under different *Bx* (horizontal component of the magnetic field). **File 15 Name: data of Fig.5B.xlsx** File 15 Description: Data of the magnetic field, displacement and horizontal velocity of the bistable soft jumpers. **File 16 Name: data of fig.S3B.xlsx** File 16 Description: Data of the magnetic field of the Helmholtz coil as a function of height h. The distance x are 0 mm, 3 mm and 6 mm, respectively. **File 17 Name: data of fig.S3C.xlsx** File 17 Description: Data of the magnetic gradient of the Helmholtz coil as a function of height h. The distance x are 0 mm, 3 mm and 6 mm, respectively. **File 18 Name: data of fig.S3E.xlsx** File 18 Description: Data of the magnetic field of the solid coil as a function of height h. The distance x are 0 mm, 5 mm and 10 mm, respectively. **File 19 Name: data of fig.S3F.xlsx** File 19 Description: Data of the magnetic gradient of the solid coil as a function of height h. The distance x are 0 mm, 5 mm and 10 mm, respectively. **File 20 Name: data of fig.S4B.xlsx** File 20 Description: Data of the measured* Bx* component of the magnetic field as a function of distance x. The height h are 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, 8 mm and 9 mm, respectively. **File 21 Name: data of fig.S4C.xlsx** File 21 Description: Data of the measured* Bz* component of the magnetic field as a function of distance x. The height h are 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, 8 mm and 9 mm, respectively. **File 22 Name: data of fig.S4E.xlsx** File 22 Description: Data of the simulated and measured* Bx* component of the magnetic field as a function of distance x. The height h are 3 mm, 6 mm and 9 mm, respectively. **File 23 Name: data of fig.S4F.xlsx** File 23 Description: Data of the simulated and measured* Bz* component of the magnetic field as a function of distance x. The height h are 3 mm, 6 mm and 9 mm, respectively. **File 24 Name: data of fig.S8A.xlsx** File 24 Description: Data of the experimental and theoretical results of the stable state transition (Transition from stable state 1 to states state 2) based on the strength and duration of the magnetic field. The state “0” means that the stable state has not been switched, while the state “1” means that the state has been switched. The theoretical results include the first and second period of the dynamic model. **File 25 Name: data of fig.S8B.xlsx** File 25 Description: Data of the experimental and theoretical results of the stable state transition (Transition from stable state 2 to states state 1) based on the strength and duration of the magnetic field. The state “0” means that the stable state has not been switched, while the state “1” means that the state has been switched. The theoretical results include the first and second period of the dynamic model. **File 26 Name: data of fig.S10B.xlsx** File 26 Description: Data of the measured rotating velocities of the bistable soft jumper as a function of the magnetic field *Bx*. **File 27 Name: data of fig.S10C.xlsx** File 27 Description: Data of the measured jumping heights of the bistable soft jumper as a function of the magnetic field *Bx*. **File 28 Name: data of fig.S10D.xlsx** File 28 Description: Data of the displacements of the bistable soft jumper under different magnetic field *Bx*. **File 29 Name: data of fig.S11A.xlsx** File 29 Description: Data of the contact areas of the bistable soft jumper under different magnetic field *Bx* when crossing the water surface. **File 30 Name: data of fig.S11B.xlsx** File 30 Description: Data of the integral of contact area under different magnetic field *Bx* when crossing the water surface. **File 31 Name: data of fig.S13.xlsx** File 31 Description: Data of the measured jumping heights of the bistable sample and non-bistable sample as a function of the magnetic field. **File 32 Name: data of fig.S14.xlsx** File 32 Description: Data of the calculated elastic energy conversion efficiencies as a function of the magnetic field.