Electrohydraulic-Driven Amphibious Soft Robot for Crawling, Swimming, and Trans-Medium Transitions

Abstract

To overcome existing challenges in trans-medium mobility and environmental adaptability, this study proposes a novel amphibious soft robot driven by hydraulically amplified self-healing electrostatic (HASEL) actuators. By leveraging high-frequency asymmetric motion, the robot achieves multi-mode locomotion, including land crawling (up to 120 mm/s), surface swimming (51 mm/s), and underwater creeping (33 mm/s). Furthermore, the design demonstrates robust physical capabilities, such as carrying twice its body weight, climbing 25° inclines, and seamlessly navigating complex obstacles. Ultimately, this efficient trans-medium performance provides a promising new robotic platform for future applications in environmental monitoring and covert search-and-rescue missions within complex, narrow environments.