In the field of mobile robots, legged robots have unique advantages including strong terrain adaptability, good obstacle-crossing performance, and high mobility. With the development of soft materials, soft-legged robots have become more flexible and compliant, exhibiting better adaptation to the environment. Current research focuses on utilizing the flexibility of soft-legged robots to adapt them to certain environments while enhancing their motion efficiency. With a shift from single to multi-environment applications of robotics, transition motion has also been emphasized. This review first categorizes soft-legged robots according to their motion behaviors in different environments—horizontal land, vertical walls, underwater and amphibious conditions—and systematically describes the structural design and locomotion gaits of soft-legged robots that are highly relevant to different environmental operations. Second, the three main actuation mechanisms, namely, pressure, electric, and magnetic actuations, are summarized, and the control strategies are analyzed. Finally, the outlook of soft-legged robotic applications in rescue operations, military reconnaissance, and space exploration is presented.

中文翻译：

---

仿生软腿机器人在陆地、水生和多种环境中的运动、交互和转换

在移动机器人领域，腿式机器人具有地形适应性强、越障性能好、机动性高等独特优势。随着软材料的发展，软腿机器人变得更加灵活、柔顺，表现出更好的环境适应能力。目前的研究重点是利用软腿机器人的灵活性来适应某些环境，同时提高其运动效率。随着机器人技术从单一环境应用向多环境应用的转变，过渡运动也受到了重视。本文首先根据软腿机器人在不同环境（水平陆地、垂直墙壁、水下和两栖条件）下的运动行为对软腿机器人进行分类，并系统地描述了与不同环境操作高度相关的软腿机器人的结构设计和运动步态。其次，总结了三种主要的驱动机制，即压力驱动、电驱动和磁驱动，并分析了控制策略。最后，展望了软腿机器人在救援行动、军事侦察和太空探索中的应用前景。