Multidirectional jumping is commonly found in living creatures and desirable to be integrated into mobile robots for enhanced agility. Existing jumping robots mostly employ complex or cumbersome structures and modular designs to achieve multidirectional jumping. There is a lack of a simple, lightweight, and compact actuator design for multidirectional jumping robots. Here, we present a multidirectional jumping soft robot (MDJSR) driven by a biaxial electrohydraulic actuator (BEHA). The BEHA has a simple structure, i.e., a thin plastic frame-guided film pouch with four pairs of distributed electrodes and enclosed with a dielectric liquid. Inspired by gall midge larvae, the MDJSR exhibits two switchable locomotion strategies, including continuous nonenergy-storing jumping to move fast and energy-storing jumping to cross obstacles. Its multidirectional jumping capability was demonstrated in the navigation through a labyrinth with two ways of obstacle-crossing and obstacle-circumventing in different terrain environments. In addition, the robot can be deployed to detect unknown space and collect environmental factors. This work provides an enabling solution to miniature and lightweight multimodal jumping soft robots for various robotic tasks.

中文翻译：

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一种具有多策略运动能力的仿生单执行器驱动软机器人

多向跳跃常见于生物体中，希望将其集成到移动机器人中以增强敏捷性。现有的跳跃机器人大多采用复杂或笨重的结构和模块化设计来实现多向跳跃。多向跳跃机器人缺乏简单、轻便、紧凑的执行器设计。在这里，我们提出了一种由双轴电动液压执行器（BEHA）驱动的多向跳跃软机器人（MDJSR）。BEHA 结构简单，即一个薄塑料框架引导薄膜袋，具有四对分布式电极并封装有介电液体。受瘿蚊幼虫的启发，MDJSR 表现出两种可切换的运动策略，包括连续非储能跳跃以快速移动和储能跳跃以跨越障碍物。在不同地形环境下，通过越障和绕障两种方式的迷宫导航，展示了其多向跳跃能力。此外，机器人还可用于探测未知空间并收集环境因素。这项工作为用于各种机器人任务的微型和轻型多模态跳跃软机器人提供了可行的解决方案。