A large challenge in the field of soft amphibious robotics is achieving high maneuverability and multiterrain adaptability through multimodal locomotion in hybrid terrestrial–aquatic environments. To address this issue, drawing inspiration from fruit-fly larvae and Spanish dancer sea slugs, a novel tethered soft amphibious robot with multimodal locomotion is proposed in this article, performing forward, backward, turning, and self-overturn motions both on land and in water. It leverages plastic-sheet-reinforced thin pneumatic actuators, which are constructed from thermoplastic membranes and embedded with a nonstretchable plastic sheet, enabling bidirectional bending with large angles. The robot achieves a forward jumping velocity of 1.77 BL/s and a forward swimming velocity of 0.69 BL/s, both faster than previously reported soft amphibious robots; connecting two actuator units in parallel, it achieves agile turning with a velocity of 111.8 $^\circ$ /s. Our proposed robot demonstrates exceptional multiterrain adaptability, facile terrestrial–aquatic transition capabilities, and underwater buoyancy adjustment ability. Especially when accidentally overturned, it can recover itself without external assistance, a capability rarely achieved by other soft robots.

中文翻译：

---

使用简单塑料片增强薄气动执行器的多模式软两栖机器人

软体两栖机器人领域的一个巨大挑战是通过在陆地-水生混合环境中的多模式运动来实现高机动性和多地形适应性。为了解决这个问题，本文从果蝇幼虫和西班牙舞者海蛞蝓中汲取灵感，提出了一种具有多模式运动的新型系留软两栖机器人，可以在陆地和水中执行前进、后退、转弯和自翻运动。水。它利用塑料片加固的薄型气动执行器，该执行器由热塑性薄膜制成，并嵌入不可拉伸的塑料片，可实现大角度的双向弯曲。该机器人的向前跳跃速度为1.77 BL/s，向前游泳速度为0.69 BL/s，均比之前报道的软体两栖机器人更快；并联两个执行器单元，实现敏捷转向，速度可达111.8 $^\约$ /s。我们提出的机器人表现出卓越的多地形适应性、轻松的陆地-水中过渡能力和水下浮力调节能力。特别是当不小心翻倒时，它可以在没有外部帮助的情况下自行恢复，这是其他软体机器人很少达到的能力。