Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through geometry-induced instability. Finite element simulations and experiments reveal consistent asymmetric deformation and the corresponding pressure characteristics. By coupling four snapping actuators in a pneumatic network, a compact quadrupedal robot achieves coordinated wavelike locomotion using only a single pressure input. The robot exhibits frequency-dependent performance with a maximum speed of 72.78~mm/s at 7.5~Hz. These findings demonstrate the potential of asymmetric snapping mechanisms for physically controlled actuation and lay the groundwork for fully untethered and efficient soft robotic systems.

翻译：软体结构中的突跳失稳为实现快速高效致动提供了有效途径。本研究开发了一种偏心穹顶型突跳致动器，通过几何诱导失稳产生可控非对称运动。有限元仿真与实验均证实了其非对称变形模式及对应的压力特性。通过将四个突跳致动器耦合于气动网络中，仅需单一压力输入即可驱动紧凑型四足机器人实现协调的波状运动。该机器人表现出频率依赖的运动性能，在7.5~Hz频率下达到72.78~mm/s的最大速度。这些发现揭示了非对称突跳机制在物理控制致动方面的潜力，为开发完全无缆高效软体机器人系统奠定了基础。