OCTOID: A Soft Robotic System Featuring Programmable Shape Morphing and Dynamic Structural Coloration

Abstract

Biological organisms achieve remarkable multifunctionality through intricate structural adaptations, inspiring advances in soft robotics. Among them, octopuses stand out by integrating camouflage, locomotion, and object manipulation seamlessly. Here, OCTOID is presented, an octopus-inspired soft robotic system that utilizes cholesteric liquid crystal elastomers (CLCEs) to combine dynamic structural color modulation with programmable, reversible shape morphing within a unified platform. By tailoring CLCE compositions derived from the same precursor chemistry, two distinct layers are fabricated: an active layer (AL) exhibiting tunable optical response and a passive layer (PL) with contrasting mechanical properties. Modular actuators assembled from symmetric and asymmetric AL/PL combinations enable diverse motion modes, equipping OCTOID to achieve adaptive camouflage, directional movement, and secure gripping. This integration of optical and mechanical programmability highlights tunable chiroptical soft materials as a versatile foundation for biomimetic multifunctional robotics, advancing possibilities in autonomous actuation and optomechanical machine design.