柔性机器人是从柔性材料/结构和驱动设计出发，提升机器人在非结构化环境下作业的安全性和适应能力；它包括依靠低模量材料变形的软体机器人，也包含因结构特征而展现出柔顺性的一类机器人。通过赋予柔性机器人本体感知和决策能力，柔性智能机器人能真正实现与复杂自然环境的安全共融。
目前实验室主要研究工作围绕高性能形状记忆合金人工肌肉驱动器及大变形折纸超结构两方面开展；致力于通过创新的结构设计，结合智能化的感知、驱动和控制方案，推动柔性机器人技术的工程化应用以及跨学科发展。
1. 高性能形状记忆合金人工肌肉
探索SMA人工肌肉驱动机理，创新研制SMA人工肌肉模块，提供高性能仿生驱动方案
集成高效的感知和控制策略，实现SMA人工肌肉精确控制
研制SMA人工肌肉柔性机器人，探索其在不同场景中的实际应用
相关论文：
Q. Hu, Y. Ouyang, H. Jin, J. Yang, D. Sun, and S. Zhang, "A Compact SMA-Driven Push–Pull Module With Precise Linear Motion," IEEE/ASME Transactions on Mechatronics, Early Access, 2026.
L. Huang, M. Yang, R. Feng, Y. Li, S. Xu, Q. Wen, S. Zhang, Q. Hu, and J. Li, "Design of a novel deep-sea hydrophore based on bidirectional SMA actuators," SCIENCE CHINA Technological Sciences, Early Access, 2026.
Z. Chai, W. Gao, J. Kong, Q. Hu, Y. Ouyang, L. Zhang, M. Sui, E. Dong, W. Li, H. Jin, and S. Zhang, "A Teleost-Inspired Multimodal Locomotion Soft Robot with High Bandwidth Artificial Muscles, " Soft Robotics, Early Access, 2025.
L. Li, S. Wang, Q. Zhang, S. Xu, L. Huang, Y. Teng, Q. Wen, Y. Wang, L. Gao, L. Wang, Q. Hu, and J. Li, " Design of A Lattice-Reinforced SMA Actuator for Underwater Soft Robots," Soft Robotics, Early Access, 2025.
Q. Hu, Z. Chen, E. Dong, and D. Sun, "Design and Control of a Modular, Untethered Soft Origami Robot Driven by SMA Coils," IEEE Transactions on Industrial Electronics, vol. 72, no. 8, pp. 8208-8218, 2025.
Q. Hu, E. Dong, and D. Sun, "Soft modular climbing robot," IEEE Transaction on Robotics, vol. 39, no. 1, pp. 399-416, 2023.
Q. Hu, E. Dong, and D. Sun, "Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine," IEEE Transaction on Robotics, vol. 37, no. 4, pp. 1065-1080, 2021.
Q. Hu, H. Huang, E. Dong, and D. Sun, "A Bioinspired Composite Finger With Self-Locking Joints," IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1391-1398, 2021.
Q. Hu, E. Dong, G. Cheng, H. Jin, J. Yang, and D. Sun, "Inchworm-inspired soft climbing robot using microspine arrays," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5800-5805, Macau, China, 2019.
2. 大变形折纸超结构
揭示折痕参数与折叠形状、走向数学关系，提出折纸逆向设计模型，研发易于使用的折纸逆向设计软件，实现折纸程序化设计制造
研制柔性折纸机器人，解决驱动集成设计、运动精确控制问题
相关论文：
J. Tao, T. Li, Q. Hu, and E. Dong, "Soft Origami Continuum Robot Capable of Precise Motion Through Machine Learning," IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1034-1041, 2025.
Q. Hu, J. Li, J. Tao, E. Dong, and D. Sun, "Inverse origami design model for soft robotic development," Soft Robotics, vol.11, no.1, pp. 131-139, 2024.
J. Tao, Q. Hu, T. Luo, and E. Dong, "A soft hybrid-actuated continuum robot based on dual origami structures," IEEE International Conference on Robotics and Automation (ICRA), pp. 524-529, London, UK, 2023.
Q. Hu, J. Li, E. Dong, and D. Sun, "Soft scalable crawling robots enabled by programmable origami and electrostatic adhesion," IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 2365-2372, 2023.