A speedy, amphibian, robotic cube: Resonance actuation by a dielectric elastomer

Dielectric elastomers (DEs), as a stimuli-responsive material, have been widely used in soft robots with the advantages of high deformability and adaptability. Since most research on DE has been focus on its quasi-static actuation, its dynamics is under-explored. In this paper, a robotic cube actuated by the resonance of DE is proposed, according to the characterization of the out-of-plane vibration in DE. A model is established to study the motion performance of the robot which agrees with the experimental result. The robot has three superior motion performances: 1) a high speed (2.8 body length per second) that is much faster than previously reported application using soft, responsive materials; 2) a weight-carrying ability (exceeding its own weight); 3) locomotion either on the land or on the surface of water.