A Snake-inspired Helical Piezoelectric Soft Robot with Frequency-controlled Multidirectional Locomotion and Mode Switching

Chutian Dai, Shupeng Wang, Xinbao Wang, Wencheng Wu, Zhihui Zhang, Luquan Ren

Journal of Bionic Engineering . 2026, (2): 716 -730 . DOI: 10.1007/s42235-025-00799-1

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