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Dryad

Plasticized electrohydraulic robot autopilots in the deep sea

Li, Guorui1; Shen, Peng1; Wong, Tuck-Whye2; Liu, Mingyu1; Sun, Zhenxiang1; Liu, Xinyu1; Chen, Yongzai1; Wang, Xianghan1; Zhang, Hao3; Hu, Bingxu1; Chen, Deli1; Zhang, Zhihan1; Zhang, Chao1; Wang, Rongchen1; Zhang, Wenhao1; Nie, Shuai1; Zhang, Xinyue1; Wong, Jie-Wei2; Zhou, Haofei2; Li, Wenbo4; Wang, Hao1; Zhang, Qian1; Wang, Shenlong5; Yu, Zhiwen16; Li, Hai7; Zhao, Hongyu8; Zeng, Qingyun1; Wang, Shiping1; Huang, Zhilong2; Ye, Cong3; Zhang, A-Man1; Li, Tiefeng2

Published Aug 27, 2025 on Dryad. https://doi.org/10.5061/dryad.wm37pvn0t

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Abstract

Soft robots, with their compliant bodies, minimal environmental disturbance, and ability to withstand ambient pressures, offer promising solutions for deep-sea exploration. However, a common challenge of stiffening in soft materials impairs their effective actuation in harsh conditions. In this work, we integrated a liquid dielectric plasticizer within an electrohydraulic soft robot, serving dual critical functions as a softening agent to maintain the softness of the polymer shell and an electrohydraulic fluid for efficient actuation. Additionally, by utilizing the surrounding seawater as alternating electrodes, we prevented charge retention in dielectric layers, enabling sustained actuation performance. Field tests at depths of ~1360 meters, 3176 meters, and ~4071 meters confirmed the robot’s ability to sense the environment, navigate complex trajectories, and locomotor capabilities to withstand unsteady disturbances. Our work offers a generalized and straightforward framework for developing soft materials tailored for deep-sea applications, paving the way for soft robots to execute real-world missions.