An Amphibious Fully-Soft Centimeter-Scale Miniature Crawling Robot Powered by Electrohydraulic Fluid Kinetic Energy

Area of Science:

• Robotics
• Materials Science
• Fluid Dynamics

Background:

• Miniature locomotion robots are crucial for tasks in confined spaces like search and rescue.
• Soft robotics offers advantages in terrain adaptability and safety.
• Existing soft robots often lack speed and robust maneuverability.

Purpose of the Study:

• To develop a fully-soft, centimeter-scale crawling robot powered by fluid kinetic energy.
• To optimize robot design and electrohydraulic actuator for enhanced performance.
• To demonstrate underwater locomotion and improved maneuverability.

Main Methods:

• Designed a soft miniature crawling robot utilizing an electrohydraulic actuator for fluid kinetic energy.
• Optimized operating voltage and design parameters to enhance crawling velocity.
• Integrated a soft, waterproof skin for underwater applications and reconfigurable electrodes for 2-DOF motion.

Main Results:

• Achieved an average crawling velocity of 16 mm/s.
• The optimized robot measures 5 cm x 5 cm x 6 mm and weighs 6.3 g.
• Demonstrated a turning rate of ~3°/s with two robots in parallel and 2-DOF translational motion for enhanced maneuverability.

Conclusions:

• The developed fully-soft robot achieves high crawling velocity, robustness, and recovery capabilities.
• The robot's design is suitable for locomotion and actuation in confined and underwater environments.
• This advancement in soft robotics holds promise for complex exploration and rescue missions.