The confluence of soft robotics and fluidic logic have sparked innovations in integrated robots with superior flexibility and potential machine intelligence. However, current fluidically driven soft robots suffer from either a large number of input controlling devices, or limited driving power. Here, we propose a hydraulic fluidic logic circuitry for liquid driven soft robots, leveraging 3D printing technologies. The fundamental building blocks of the system are hydraulic normally-on and normally-off logic gates, namely NOT and AND, along with a multi-connected channel structure functioning as OR. Using minimal-input design principles, the XOR gate can be simplified to only two valves, and used to construct a sensor-free error detector. The design principle can also be extended to full adders, as well as amplifiers, which can greatly improve the flow efficiency of the system. Additionally, taking advantage of the incompressible nature of liquid and optimized logic circuitry using the minimal-input design principle, we present a quadruped soft robot integrated with combinational fluidic logic, realizing bidirectional turtle-like locomotion, controlled by only two inputs. The robot is capable of walking under heavy load and performing controllable underwater locomotion. This hydraulic fluidic soft robotic system utilizes a small number of inputs to control multiple distinct outputs, and alters the internal state of the circuit solely based on external inputs, holding significant promises for the development of microfluidics, fluidic logic, and intricate internal systems of untethered soft robots with machine intelligence.

翻译：软体机器人与流体逻辑的融合激发了集成机器人领域的创新，这些机器人具备卓越的柔韧性和潜在的机器智能。然而，当前流体驱动的软体机器人要么需要大量输入控制设备，要么驱动功率有限。在此，我们提出一种用于液体驱动软体机器人的液压流体逻辑电路，该电路利用了三维打印技术。该系统的基本构建模块是液压常开和常闭逻辑门，即NOT门和AND门，以及一个作为OR门功能的多连接通道结构。采用最小输入设计原则，XOR门可简化为仅需两个阀门，并用于构建无传感器误差检测器。该设计原则还可扩展至全加器以及放大器，从而极大提高系统的流动效率。此外，利用液体的不可压缩性以及基于最小输入设计原则优化的逻辑电路，我们展示了一种集成组合流体逻辑的四足软体机器人，仅通过两个输入控制即可实现类似海龟的双向运动。该机器人能够在重载下行走并执行可控的水下运动。该液压流体软体机器人系统利用少量输入控制多个不同的输出，并仅根据外部输入改变电路的内部状态，为微流体学、流体逻辑以及具有机器智能的无缆软体机器人的复杂内部系统发展带来了重要前景。