Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted significant research interest due to their exceptional terrain adaptability and safety features. In this paper, we introduce a fully-soft miniature crawling robot directly powered by fluid kinetic energy generated by an electrohydraulic actuator. Through optimization of the operating voltage and design parameters, the crawling velocity of the robot is dramatically enhanced, reaching 16 mm/s. The optimized robot weighs 6.3 g and measures 5 cm in length, 5 cm in width, and 6 mm in height. By combining two robots in parallel, the robot can achieve a turning rate of approximately 3 degrees/s. Additionally, by reconfiguring the distribution of electrodes in the electrohydraulic actuator, the robot can achieve 2 degrees-of-freedom translational motion, improving its maneuverability in narrow spaces. Finally, we demonstrate the use of a soft water-proof skin for underwater locomotion and actuation. In comparison with other soft miniature crawling robots, our robot with full softness can achieve relatively high crawling velocity as well as increased robustness and recovery.

翻译：具备在受限环境中导航能力的微型移动机器人在包括搜索与救援在内的广泛任务中展现出巨大潜力。软体微型移动机器人作为新兴领域，因其卓越的地形适应性和安全特性而备受关注。本文介绍了一种全软体微型爬行机器人，该机器人直接由电液执行器产生的流体动能驱动。通过优化工作电压和设计参数，该机器人的爬行速度显著提升，达到16毫米/秒。优化后的机器人重6.3克，尺寸为长5厘米、宽5厘米、高6毫米。通过将两台机器人并联组合，可实现约3度/秒的转向速率。此外，通过重新配置电液执行器中的电极分布，机器人可实现2自由度平移运动，提高了其在狭窄空间中的机动性。最后，我们展示了使用软体防水外皮实现水下运动和驱动的能力。与其他软体微型爬行机器人相比，我们的全软体机器人不仅能实现较高的爬行速度，还具备更强的鲁棒性和恢复能力。