Unconstrained hydraulic amplification electrostatic self-driven rolling type robot

The invention discloses an unconstrained hydraulic amplification electrostatic self-driven rolling type robot which comprises N outer flexible electrode layers, an inner flexible electrode layer, an outer elastic layer, an inner elastic layer, an inner liquid dielectric layer and a rigid inner frame, the inner flexible electrode layer is arranged outside the rigid inner frame, and the inner elastic layer is arranged outside the inner flexible electrode layer. The inner liquid dielectric layer is arranged outside the inner elastic layer, the outer elastic layer is arranged outside the inner liquid dielectric layer, and the N outer flexible electrode layers are uniformly attached to the outer surface of the outer elastic layer at a gap distance l. An internal interface is led out from the inner flexible electrode layer, an external interface is led out from each external flexible electrode layer, the N external interfaces are connected in parallel and then connected with the internal interface in series, and the internal interface and the N external interfaces are connected with a circuit unit. Compared with the prior art, the unconstrained hydraulic amplification electrostatic self-driven rolling type robot has the advantages of low manufacturing cost, simplicity in manufacturing and capability of realizing higher power density and higher response speed.