Given that mobile soft robots are adaptable to the environment, they are always tethered with slow locomotion speed. Compared with other types of mobile robots, mobile soft robots may be more suitable for rescuing tasks, accompanying elderly people, and being used as a safe toy for children. However, the infinite freedom of soft robots increases the difficulty of precision control. In addition, the large volume and long tube of the conventional soft actuator structure limit the range of motion of current mobile soft robots. In this article, a newly designed innovative untethered-bioinspired quadrupedal robot based on double-chamber pre-charged pneumatic (DCPCP) soft actuators with highly flexible trunk is proposed. Asymmetrical cross-tendons actuated by servo motors are used to drive the DCPCP soft legs so that buckling can be avoided and mimic the gait of quadruped animals with the simplest drive and control strategy. In addition, the proposed design greatly improves energy efficiency and exhibits superior performance of variable stiffness. The bioinspired highly flexible trunk is designed with the supporting spine structure and tendon driven muscle to deform, which can constantly adjust to the contact situation between the foot and the ground to adjust the center of gravity of the soft quadruped robot and increase stability when walking and turning. The proposed soft quadruped robot does not require any air compressors, valves, and hoses. The characteristics of untethered, high-energy efficiency, linear control, and stability make the soft quadruped robot suitable for many applications.

中文翻译：

---

基于具有高柔性躯干的双腔预充电气动软执行器的无束缚仿生四足机器人

鉴于移动软机器人对环境的适应性，它们总是被束缚在缓慢的运动速度上。与其他类型的移动机器人相比，移动软机器人可能更适合救援任务、陪伴老人、作为儿童安全玩具使用。然而，软体机器人的无限自由度增加了精密控制的难度。此外，传统的软执行器结构体积大、管长，限制了当前移动软机器人的运动范围。在本文中，提出了一种新设计的基于具有高柔性躯干的双腔预充电气动（DCPCP）软执行器的创新无束缚仿生四足机器人。由伺服电机驱动的不对称交叉肌腱用于驱动 DCPCP 软腿，从而可以避免屈曲，并以最简单的驱动和控制策略模仿四足动物的步态。此外，所提出的设计大大提高了能源效率，并表现出优异的可变刚度性能。仿生高弹性躯干设计有支撑脊椎结构和肌腱驱动肌肉变形，可以不断调整脚与地面的接触情况，从而调整软体四足机器人的重心，增加行走时的稳定性和稳定性。转动。所提出的软体四足机器人不需要任何空气压缩机、阀门和软管。无束缚、高能效、线性控制的特点，