Spikebot: A Multigait Tensegrity Robot with Linearly Extending Struts.

Numerous recent research efforts have leveraged networks of rigid struts and flexible cables, called tensegrity structures, to create highly resilient and packable mobile robots. However, the locomotion of existing tensegrity robots is limited in terms of both speed and number of distinct locomotion modes, restricting the environments that a robot is capable of exploring. In this study, we present a tensegrity robot inspired by the volumetric expansion of Tetraodontidae. The robot, referred to herein as Spikebot, employs pneumatically actuated rigid struts to expand its global structure and produce diverse gaits. Spikebot is composed of linear actuators that dually serve as rigid struts linked by elastic cables for stability. The linearly actuating struts can selectively protrude to initiate thrust- and instability-driven locomotion primitives. Such motion primitives allow Spikebot to reliably locomote, achieving rolling, lifting, and jumping. To highlight Spikebot's potential for robotic exploration, we demonstrate how it achieves multi-dimensional locomotion over varied terrestrial conditions.

Magnesium Storage Performance and Mechanism of 2D-Ultrathin Nanosheet-Assembled Spinel MgIn2 S4 Cathode for High-Temperature Mg Batteries.

Magnesium batteries have the potential to be a next generation battery with large capability and high safety, owing to the high abundance, great volumetric energy density, and reversible dendrite-free capability of Mg anodes. However, the lack of a stable high-voltage electrolyte, and the sluggish Mg-ion diffusion in lattices and through interfaces limit the practical uses of Mg batteries. Herein, a spinel MgIn2 S4 microflower-like material assembled by 2D-ultrathin (≈5.0 nm) nanosheets is reported and first used as a cathode material for high-temperature Mg batteries with an ionic liquid electrolyte. The nonflammable ionic liquid electrolyte ensure the safety under high temperatures. As prepared MgIn2 S4 exhibits wide-temperature-range adaptability (50-150 °C), ultrahigh capacity (≈500 mAh g-1 under 1.2 V vs Mg/Mg2+ ), fast Mg2+ diffusibility (≈2.0 × 10-8 cm2 s-1 ), and excellent cyclability (without capacity decay after 450 cycles). These excellent electrochemical properties are due to the fast kinetics of magnesium by the 2D nanosheets spinel structure and safe high-temperature operation environment. From ex situ X-ray diffraction and transmission electron microscopy measurements, a conversion reaction of the Mg2+ storage mechanism is found. The excellent performance and superior security make it promising in high-temperature batteries for practical applications.