{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,13]],"date-time":"2026-10-13T04:39:20Z","timestamp":1791866360329,"version":"4.3.4"},"reference-count":36,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2025,7,31]],"date-time":"2025-07-31T00:00:00Z","timestamp":1753920000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2025,8,1]]},"abstract":"<jats:p>\n                    Small-scale soft robots, despite their potential for adaptability in unknown environments, often encounter performance constraints due to inherent limitations within soft actuators and compact bodies. To address this problem, we proposed a fast-moving soft robot driven by electroactive materials. The robot combines the advantages of dielectric elastomer actuators (DEAs) and shape memory alloy (SMA) spring actuators, enabling its high-performance multi-modal locomotion in a small and lightweight design. Theoretical models were constructed for both DEAs and SMA spring actuators to analyze the performance of the designed robot. The robot\u2019s design parameters were optimized based on these models to improve its running and jumping performance. The designed robot has a size of 40 \u00d7 45 \u00d7 25 mm and a weight of 3.5 g. The robot can achieve a running speed of 91 mm\/s, ascend a 9\u00b0 slope, and execute turning motions\n                    <jats:italic toggle=\"yes\">via<\/jats:italic>\n                    an asymmetrical actuation of SMA spring actuators. The robot also demonstrates high-performance jumping motions with a maximum jumping height of 80 mm and the ability to jump over a 40 mm high obstacle. This work introduces a novel approach to designing small-scale soft terrestrial robots, enhancing their agility and mobility in obstacle-laden environments.\n                  <\/jats:p>","DOI":"10.1089\/soro.2024.0108","type":"journal-article","created":{"date-parts":[[2025,1,6]],"date-time":"2025-01-06T03:41:44Z","timestamp":1736134904000},"page":"387-398","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":10,"title":["Small-Scale Soft Terrestrial Robot with Electrically Driven Multi-Modal Locomotion Capability"],"prefix":"10.1177","volume":"12","author":[{"given":"Jian","family":"Yang","sequence":"first","affiliation":[{"name":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junyu","family":"Zhou","sequence":"additional","affiliation":[{"name":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fan","family":"Xu","sequence":"additional","affiliation":[{"name":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hesheng","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,7,31]]},"reference":[{"key":"e_1_3_4_2_2","doi-asserted-by":"crossref","unstructured":"Chen H Liang J Miao Z et al. 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