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Miniature locomotion robots with the ability to navigate confinedenvironments show great promise for a wide range of tasks, including search andrescue operations. Soft miniature locomotion robots, as a burgeoning field,have attracted significant research interest due to their exceptional terrainadaptability and safety features. In this paper, we introduce a fully-softminiature crawling robot directly powered by fluid kinetic energy generated byan electrohydraulic actuator. Through optimization of the operating voltage anddesign 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, therobot can achieve a turning rate of approximately 3 degrees/s. Additionally, byreconfiguring the distribution of electrodes in the electrohydraulic actuator,the robot can achieve 2 degrees-of-freedom translational motion, improving itsmaneuverability in narrow spaces. Finally, we demonstrate the use of a softwater-proof skin for underwater locomotion and actuation. In comparison withother soft miniature crawling robots, our robot with full softness can achieverelatively high crawling velocity as well as increased robustness and recovery.

An Amphibious Fully-Soft Miniature Crawling Robot Powered by Electrohydraulic Fluid Kinetic Energy