Abstract: Current directional control methods for flexible piezoelectric film robots often introduce additional structural complexity. Inspired by the lateral undulation of snakes, this paper presents a frequency-based directional control method for a robot with a monolithic structure. This research introduces a soft robot based on a helical composite piezoelectric film, innovatively designed to utilize a single spatial helical structure to achieve multidirectional foot motion. This design enables control over the direction and mode of motion via frequency modulation. A change in driving angle from ??19° to 123° is attained through frequency modulation, while a maximum linear motion speed of 3.4 BL/s (Body Length/s) is achieved. Empirical findings robustly demonstrate the robot’s ability to execute various tasks, including slope ascent, load carriage, maze traversal, and pipe navigation, thus showcasing its exceptional operational capacity within confined environments. Diverging from conventional paradigms that seek to enhance control through structural complexity, this groundbreaking study introduces a frequency-driven control methodology for flexible robots. This paradigm shift holds significant implications for streamlining structural designs, optimizing control strategies, and expanding the application scope of soft robotic systems.

Key words: Soft robot')">Soft robot, Snake-inspired, Piezoelectric robot, Frequency-controlled, Multidirectional, ')"> Multimodal