Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait diversity and real-time control, and onboard sensors to sense the surroundings are some of the common issues with soft-limbed robots. To overcome these limitations, we propose a spatially symmetric, topologically-stable, soft-limbed tetrahedral robot that can perform multiple locomotion gaits. We introduce a kinematic model, derive locomotion trajectories for different gaits, and design a teleoperation mechanism to enable real-time human-robot collaboration. We use the kinematic model to map teleoperation inputs and ensure smooth transitions between gaits. Additionally, we leverage the passive compliance and natural stability of the robot for toppling and obstacle navigation. Through experimental tests, we demonstrate the robot's ability to tackle various locomotion challenges, adapt to different situations, and navigate obstructed environments via teleoperation.

翻译：软体机器人在非结构化环境（如搜救任务）中展现出巨大应用潜力。然而，软肢机器人普遍存在的自主性与可遥操作能力不足、功能有限、缺乏步态多样性及实时控制能力、缺少感知周围环境的板载传感器等问题亟待解决。为突破这些限制，本文提出一种空间对称、拓扑稳定的软肢四面体机器人，其具备多模式运动步态能力。我们建立了运动学模型，推导了不同步态的运动轨迹，并设计了遥操作机制以实现实时人机协作。通过运动学模型映射遥操作输入指令，确保步态间的平滑过渡。此外，利用机器人自身的被动柔顺性与自然稳定性实现倾倒规避与障碍物导航。实验测试证明，该机器人能够应对多种运动挑战，适应不同场景，并通过遥操作在障碍环境中实现自主导航。