Soft Robots for Complex Environments: Actuation, Intelligent Sensing, and Environmental Applications

Abstract

In the development of traditional rigid robots, problems such as structural rigidity and insufficient flexibility have become increasingly prominent. In contrast, soft robots, with their strong environmental adaptability and flexibility, have shown great potential in fields such as high- altitude operations and disaster rescue. In practical applications, the functions of adhesion and climbing are crucial for completing tasks in complex environments. Sensing of vision and posture is fundamental for robots to make self-decisions. This paper discusses the core technologies of soft robots in complex environments. It first analyzes the application of actuation materials and the principles of adhesion and adsorption. Then, it explores multimodal intelligent sensing systems, including tactile perception, environmental perception, and visual and posture perception. Building on this foundation, the paper further summarizes the current application status of soft robots in typical scenarios such as emergency rescue and high- altitude operations, and systematically reviews the current technical challenges, such as actuation efficiency, perception integration, and environmental adaptability. Finally, it looks ahead to future development directions, including the development of novel intelligent materials, multimodal perception fusion, and autonomous intelligent control, aiming to provide a reference for the in-depth research and application of soft robots in complex environments.