On the other hand, soft jumping robots actuated by pneumatic actuators 27, 28, 29, chemical actuators 30, 31, 32, 33, and motors 34, 35, 36 have been demonstrated but have complicated navigation strategies and structures. The prolongation of the energy-storage process increases the JH but decreases the landing stability and reduces the jumping frequency.

Some of them, which are energy-storing jumping robots 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, have excellent single-jump performance, but always at the cost of navigation efficiency due to the necessity of the additional elastic energy-storage process. Researchers have developed soft or partially soft jumping robots capable of forward navigations and driven by integrated springs 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, shape memory alloys (SMAs) 18, 19, 20, magnetic actuators 21, light-powered actuators 22, 23, dielectric elastomer actuators (DEAs) 24, 25, 26, pneumatic actuators 27, 28, 29, chemical actuators 30, 31, 32, 33, motors 34, 35, 36, and polyvinylidene difluoride (PVDF) actuators 37. However, enhancing single-jump performance (jumping height (JH) and jumping distance (JD)) of soft jumping robots to improve their obstacle-crossing ability and accelerating jumping frequency to increase their navigation efficiency at the same time are two grand engineering challenges. This work provides a foundation for the application of electrohydrostatic actuation in soft robots for agile and fast multimodal locomotion.ДЄs an important locomotion function of terrestrial robots, jumping or leaping is useful for them to effectively extend their navigation range, overcome challenging obstacles, and enhance their adaptability in unstructured environments 1, 2, 3. The robots are also demonstrated to be capable of skipping across a multitude of obstacles.

Combining two actuator units, it can achieve rapid turning with a speed of 138.4В° per second. This 1.1вЂ‰g and 6.5вЂ‰cm tethered soft jumping robot is able to achieve a jumping height of 7.68 body heights and a continuous forward jumping speed of 6.01 body lengths per second. Here, we present an electrohydrostatically driven tethered legless soft jumping robot capable of rapid, continuous, and steered jumping based on a soft electrohydrostatic bending actuator. However, only few soft jumping robots can achieve rapid continuous jumping and controlled turning locomotion for obstacle crossing. In that sense, continuous jumping and direction adjustability can be essential properties for terrestrial robots with multimodal locomotion. Jumping is an important locomotion function to extend navigation range, overcome obstacles, and adapt to unstructured environments.

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