Fig. 5: The soft robots made by the EAP actuators and their performance.

a Design and different gaits in the cross-sectional views of the frog-inspired soft robot. b Crawling process of the frog-inspired soft robot made by H_1.1-RT-TS actuator on the zigzag surface. The inset in (b) shows the geometry dimension of the zigzag surface. c Crawling speed of the frog-inspired soft robot made by pure RT-TS and H_1.1-RT-TS actuator under different driving fields and frequencies. The inserted photographs in c depict the crawling process of the frog-inspired soft robot on the sand. d Design and different gaits in the cross-sectional views of the “inchworm-like” soft robot. e Crawling process of the “inchworm-like” soft robot made by H_1.1-RT-TS actuator on the zigzag surface. f Crawling speed of the “inchworm-like” soft robot made by pure RT-TS and H_1.1-RT-TS actuators under diverse slopes. g Crawling process of the “inchworm-like” soft robot made by pure RT-TS actuator on a slope of 20°. h, i Crawling process of the “inchworm-like” soft robot made by H_1.1-RT-TS actuator on a slope of 40° (h), and a slope of 52° (i), respectively. j Crawling process of the “inchworm-like” soft robot made by H_1.1-RT-TS actuator on the smooth road with a slope of 30°. k The crawling process of the “inchworm-like” soft robots with a load of 0.14 g made by H_1.1-RT-TS (left) and pure RT-TS (right) actuators, respectively. l Crawling process of the soft robot made by H_1.1-RT-TS actuator with a load of 1.57 × g. All the scale bars in the figures are 1 cm.