The controlled actuation of hydraulic and pneumatic actuators has unveiled fresh and thrilling opportunities for designing mobile robots with adaptable structures. Previously reported rolling robots, which were powered by fluidic systems, often relied on complex principles, cumbersome pump and valve systems, and intricate control strategies, limiting their applicability in other fields. In this investigation, we employed a distinct category of functional fluid identified as Electrohydrodynamic (EHD) fluid, serving as the pivotal element within the ring-shaped actuator. A short stream of functional fluid is placed within a fluidic channel and is then actuated by applying a direct current voltage aiming at shifting the center of mass of the robot and finally pushed the actuator to roll. We designed a ring-shaped fluidic robot, manufactured it using digital machining methods, and evaluated the robot's characteristics. Furthermore, we developed static and dynamic models to analyze the oscillation and rolling motion of the ring-shaped robots using the Lagrange method. This study is anticipated to contribute to the expansion of current research on EHD flexible actuators, enabling the realization of complex robotic systems.

翻译：液压与气动执行器的受控驱动为设计具有适应性结构的移动机器人开辟了崭新而激动人心的机遇。先前报道的由流体系统驱动的滚动机器人通常依赖于复杂的原理、笨重的泵阀系统以及繁琐的控制策略，这限制了它们在其他领域的应用。在本研究中，我们采用了一种被称为电流体动力学（EHD）流体的特殊功能流体，将其作为环形执行器中的关键元件。将一小段功能流体置于流体通道内，通过施加直流电压使其驱动，旨在改变机器人的质心位置，最终推动执行器滚动。我们设计了一种环形流体机器人，采用数字化加工方法制造，并评估了该机器人的特性。此外，我们基于拉格朗日方法建立了静态与动态模型，以分析环形机器人的振荡与滚动运动。本研究有望推动当前关于EHD柔性执行器的研究进展，为实现复杂的机器人系统提供支持。