电驱动机器人因其响应速度快，控制精度高，灵活性强等优点，在机器人领域受到了广泛关注。与刚性部件组成的电驱动机器人相比，基于聚合物的电驱动软体机器人具有更高的自由度，适应性和鲁棒性，因此在航空航天等领域具有不可忽视的应用潜力。然而，当前基于聚合物的电驱动软体机器人使用的电响应智能驱动材料仍面临能量效率低，驱动精度不足，稳定性差等问题；在器件方面，还存在作动方式简单，应用场景有限及缺乏复杂场景下的多模态运动能力等挑战。因此，本文首先从材料的角度总结了不同类型的基于聚合物的电驱动软体机器人的驱动机制，并综述了其驱动性能改进方法；从器件角度，总结了基于聚合物的电驱动软体机器人在复杂环境下的运动行为特点，包含爬行和行走，跳跃，攀爬，水下运动和飞行等多种模式，以及驱动功能和多物理场耦合以拓宽软体驱动的应用场景；最后，讨论了当前研究所面对的挑战与未来发展趋势。

Electrically driven robots have gained widespread attention in the robotics field due to their fast response, high control precision, and flexibility. Compared to rigidly structured electrically driven robots, polymer-based electrically driven soft robots offer high-er degrees of freedom, adaptability, and robustness, which give them significant potential in applications such as aerospace. However, the electro-responsive smart driving materials used in polymer-based electrically driven soft robots still face challeng-es such as low energy efficiency, insufficient driving precision, and poor stability. In terms of device design, existing actuation methods face challenges such as simplicity, limited applicability across diverse scenarios, and an insufficient ability to support multimodal motion in complex environments. This review first summarizes the driving mechanisms of different types of polymer-based electrically driven soft robots from a material perspective and reviews methods for improving their driving performance. From a device perspective, the review outlines the movement characteristics of these robots in complex environments, including crawling, walking, jumping, climbing, underwater movement, and flight, as well as the integration of driving functions and multiphysical field coupling to expand the application scenarios of soft driving. Finally, the current limitations and future research trends are identified.