The small-scale robot using soft materials features extraordinary compliance and a large amount of degree of freedoms, but its nonlinearity in material increases the system complexity for control strategy. In this paper, as inspired by the skiing-sport, a lightweight locomotion robot with a rigid poking pole is designed and driven by an artificial muscle, a conical dielectric elastomer actuator (DEA). The poking mechanism transmits the stroke of DEA into robot motion, contributing the material compliance to the capability of terrain adaptivity in the robot. The combination of a soft actuator and a rigid transmission mechanism lowers the complexity in the robotic kinetics and increases the loading capability for device carrying. Experiments verify the locomotion on the dimple and wavy pavement as well as clambering a slope. This robot offers performances including: (i) a maximum speed of 64.1 mm (0.43 body length) per second; (ii) a loading capability of 7.7 times of its weight; (iii) a steering angle of 25at a radius of 18 cm.

使用软材料的小型机器人具有非凡的柔顺性和大的自由度，但其材料的非线性增加了系统控制策略的复杂性。在本文中，受滑雪运动的启发，设计了一种带有刚性拨杆的轻型运动机器人，并由人造肌肉、锥形介电弹性体执行器 (DEA) 驱动。戳动机构将 DEA 的行程传递给机器人运动，为机器人的地形适应能力提供材料柔顺性。软执行器和刚性传动机构的结合降低了机器人动力学的复杂性，并增加了设备承载的负载能力。实验验证了在凹坑和波浪形路面以及爬坡时的运动。该机器人提供的性能包括：(i) 最大速度为每秒 64.1 毫米（0.43 体长）；(ii) 其重量的 7.7 倍的装载能力；(iii) 在半径 18 cm 处转向角为 25。