Soft robots, while highly adaptable to diverse environments through various actuation methods, still face significant performance boundary due to the inherent properties of materials. These limitations manifest in the challenge of guaranteeing rapid response and large-scale movements simultaneously, ultimately restricting the robots' absolute speed and overall efficiency. In this paper, we introduce a high-frequency pneumatic oscillator (HIPO) to overcome these challenges. Through a collision-induced phase resetting mechanism, our HIPO leverages event-based nonlinearity to trigger self-oscillation of pneumatic actuator, which positively utilizes intrinsic characteristics of materials. This enables the system to spontaneously generate periodic control signals and directly produce motion responses, eliminating the need for incorporating external actuation components. By efficiently and rapidly converting internal energy of airflow into the kinetic energy of robots, HIPO achieves a frequency of up to 20 Hz. Furthermore, we demonstrate the versatility and high-performance capabilities of HIPO through bio-inspired robots: an insect-like fast-crawler (with speeds up to 50.27 cm/s), a high-frequency butterfly-like wing-flapper, and a maneuverable duck-like swimmer. By eliminating external components and seamlessly fusing signal generation, energy conversion, and motion output, HIPO unleashes rapid and efficient motion, unlocking potential for high-performance soft robotics.

翻译：软体机器人虽能通过多种驱动方式高度适应不同环境，但由于材料固有特性，其性能仍面临显著边界。这些限制体现在难以同时保证快速响应与大尺度运动，最终制约了机器人的绝对速度与整体效率。本文提出一种高频气动振荡器（HIPO）以应对这些挑战。通过碰撞诱导相位重置机制，HIPO利用基于事件的非线性触发气动执行器的自激振荡，从而积极利用材料的内在特性。该系统可自发产生周期性控制信号并直接生成运动响应，无需集成外部驱动组件。通过高效快速地将气流内能转化为机器人动能，HIPO实现了高达20 Hz的振荡频率。此外，我们通过仿生机器人展示了HIPO的多功能性与高性能：昆虫式快速爬行机器人（速度达50.27 cm/s）、高频蝴蝶式扑翼机以及高机动性鸭式游泳机器人。通过消除外部组件并将信号生成、能量转换与运动输出无缝融合，HIPO实现了快速高效的运动，为高性能软体机器人技术开辟了新的潜力。