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To address this challenge, we developed film-balloon (FiBa) modules that drastically reduced the weight of soft actuators. FiBa modules combine transversely curved polymer thin films and three-dimensionally printed pneumatic balloons to achieve varied locomotion modes. These lightweight FiBa modules serve as building blocks to create untethered soft robots mimicking natural movement strategies. These modules substantially reduce overall robot weight, allowing the integration of components such as pumps, valves, batteries, and control boards, thereby enabling untethered operation. FiBa modules integrated with electronic components demonstrated four bioinspired modes of locomotion, including turtle-inspired crawling, inchworm-inspired climbing, bat-inspired perching, and ladybug-inspired flying. Overall, our study offers an alternative tool for designing and customizing lightweight, untethered soft robots with advanced functionalities. The reduction of the weight of soft robots enabled by our approach opens doors to a wide range of applications, including disaster relief, space exploration, remote sensing, and search and rescue operations, where lightweight, untethered soft robotic systems are essential.<\/jats:p>","DOI":"10.1126\/scirobotics.adk4533","type":"journal-article","created":{"date-parts":[[2024,7,17]],"date-time":"2024-07-17T17:58:13Z","timestamp":1721239093000},"update-policy":"http:\/\/dx.doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":1,"title":["Crawling, climbing, perching, and flying by FiBa soft robots"],"prefix":"10.1126","volume":"9","author":[{"ORCID":"http:\/\/orcid.org\/0000-0002-5747-2020","authenticated-orcid":true,"given":"Terry","family":"Ching","sequence":"first","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."},{"name":"Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore."},{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-8408-9430","authenticated-orcid":true,"given":"Joseph Zhi Wei","family":"Lee","sequence":"additional","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."},{"name":"Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-5859-6199","authenticated-orcid":true,"given":"Shane Kyi Hla","family":"Win","sequence":"additional","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."}]},{"given":"Luke Soe Thura","family":"Win","sequence":"additional","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."}]},{"ORCID":"http:\/\/orcid.org\/0000-0003-1549-5029","authenticated-orcid":true,"given":"Danial","family":"Sufiyan","sequence":"additional","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."}]},{"ORCID":"http:\/\/orcid.org\/0009-0001-4865-1465","authenticated-orcid":true,"given":"Charlotte Pei Xuan","family":"Lim","sequence":"additional","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."}]},{"given":"Nidhi","family":"Nagaraju","sequence":"additional","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."},{"name":"Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-4105-4852","authenticated-orcid":true,"given":"Yi-Chin","family":"Toh","sequence":"additional","affiliation":[{"name":"School of Mechanical, Medical and Process Engineering, Queensland University of Technology, Brisbane, Australia."},{"name":"Centre for Biomedical Technologies, Queensland University of Technology, Kelvin Grove, Australia."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-9724-6159","authenticated-orcid":true,"given":"Shaohui","family":"Foong","sequence":"additional","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-9684-2354","authenticated-orcid":true,"given":"Michinao","family":"Hashimoto","sequence":"additional","affiliation":[{"name":"Pillar of Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore."},{"name":"Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore, Singapore."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2011.12.030"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2020.3024280"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0135"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00009"},{"key":"e_1_3_2_6_2","doi-asserted-by":"crossref","unstructured":"R. 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