TY - GEN
T1 - A Hexagonal Soft Robot Driven by High-Frequency HASEL Actuators
AU - Cao, Chao
AU - Shi, Shaonan
AU - Li, Yao
AU - Li, Bing
N1 - Publisher Copyright:
© 2026 IEEE.
PY - 2026
Y1 - 2026
N2 - This study presents a high-performance hexagonal soft robot weighing 13.1 grams and driven by hydraulic-amplified self-healing electrostatic (HASEL) actuators. The robot integrates a central elastic spring within a 7-centimeter frame, enabling synchronized electrohydraulic expansion to achieve efficient motion. We systematically investigated its frequency response (8-12 Hz) and observed distinct voltage-dependent resonance behavior. Under a 5 kV excitation, the robot achieved a peak motion velocity of 40.65 mm/s (0.58 body lengths/s) at 8 Hz and a maximum steering agility of 21.71 degrees/s at 9 Hz. A comparative analysis at 4 kV revealed a resonance shift, with peak motion (31.37 mm/s) occurring at 9 Hz, highlighting the complex coupling between fluid damping and structural elasticity. Furthermore, the differential drive control system enabled agile manipulation, validating the system’s potential as a frequency-modulated high-speed soft robot.
AB - This study presents a high-performance hexagonal soft robot weighing 13.1 grams and driven by hydraulic-amplified self-healing electrostatic (HASEL) actuators. The robot integrates a central elastic spring within a 7-centimeter frame, enabling synchronized electrohydraulic expansion to achieve efficient motion. We systematically investigated its frequency response (8-12 Hz) and observed distinct voltage-dependent resonance behavior. Under a 5 kV excitation, the robot achieved a peak motion velocity of 40.65 mm/s (0.58 body lengths/s) at 8 Hz and a maximum steering agility of 21.71 degrees/s at 9 Hz. A comparative analysis at 4 kV revealed a resonance shift, with peak motion (31.37 mm/s) occurring at 9 Hz, highlighting the complex coupling between fluid damping and structural elasticity. Furthermore, the differential drive control system enabled agile manipulation, validating the system’s potential as a frequency-modulated high-speed soft robot.
KW - Electro-hydraulic drive
KW - Frequency-modulated control
KW - Soft robot
KW - component
UR - https://www.scopus.com/pages/publications/105041785865
U2 - 10.1109/ICMTIM69588.2026.11525717
DO - 10.1109/ICMTIM69588.2026.11525717
M3 - 会议稿件
AN - SCOPUS:105041785865
T3 - 2026 7th International Conference on Mechatronics Technology and Intelligent Manufacturing, ICMTIM 2026
SP - 142
EP - 145
BT - 2026 7th International Conference on Mechatronics Technology and Intelligent Manufacturing, ICMTIM 2026
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Mechatronics Technology and Intelligent Manufacturing, ICMTIM 2026
Y2 - 17 April 2026 through 19 April 2026
ER -