软体机器人是由柔性材料加工而成的，可以任意改变自身尺寸，与刚性机器人相比具有高顺应性、适应性和安全性等特点，在工业、农业、医疗、救灾等领域都有广阔的应用前景，受到国内外学者的青睐。文中从制作材料、制作方法、驱动方式、应用领域、传感与控制方面对软体机器人进行综述，介绍了软体机器人的制作材料和柔性材料的新成果，以及近年来制作软体机器人较新的方法；按照驱动方式将软体机器人分为流体驱动、智能材料驱动、化学反应驱动，并对每种驱动方式的特点和典型结构进行了总结；对软体机器人的建模方法和控制策略进行归纳与分析，得出了开发刚柔并济的新材料、高效制造和精准控制是研究软体机器人的未来方向。

Soft robots are made of soft materials and can be freely changed in size. Compared with rigid robots, soft robots own merits such as high flexibility,adaptability and safely human-machine interactivity.They have been favored by researchers at home and abroad for their broad application prospects in the fields of industry,agriculture,medical care, disaster relief,etc. The materials，production methods，drive methods，application fields，sensing and control methods of soft robots were reviewed. The new development in soft robots materials and production methods were introduced. According to drive methods,soft robots were divided into fluid-driven robots,intelligent material-driven robots，and chemical reaction-driven robots.In addition, their characteristics and typical structure were summarized. The modeling method and control strategy of the soft robots were introduced and analyzed. It concludes that developingvariable stiffness materials,efficient manufacturing and precise control methods is a promising directions of soft robot research.