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Abstract Traditional unflexible mobile robots have the drawbacks of inadequate flexibility and poor environmental adaptability. Soft mobile robots utilize pliable materials to mitigate their deficiencies. Soft robots operated by Dielectric Elastomer Actuators (DEAs) are distinguished by their elevated energy density, significant deformation capabilities, and rapid response times. Moreover, it can circumvent the hysteresis issue associated with alternative driving systems, yet, it still has challenges related to low-voltage operation, material fatigue, and deformation management. This work presents a multidirectional soft mobile robot utilizing the DEA flexible driving technique. It employs two DEAs with a minimum energy structure as the driving core, incorporates connecting sleeves to avert DEA separation, and features unidirectional wheels to guarantee regulated direction. The robot employs tank-like steering, maneuvering around speed differentials between the two sides without altering the orientation of the walking apparatus. Through experimentation, the primary DEA parameters were optimized: the optimal shape of the hollowed-out area was determined to be elliptical, with dimensions of b=8mm and h=10mm; a two-layer DE film superposition scheme was employed; the pre-stretching rate was established at 400%; and the electrode coverage area was maximized. Performance investigations indicate that the robot can achieve a maximum rotational speed of 2.77°/s at a driving frequency of 5Hz and attain a linear velocity of 13.64cm/s at a driving frequency of 7Hz. It can navigate through tunnels that are 30mm in height and cross gaps that are 13 mm in width. It is capable of bearing 1.13 times its own weight. The wooden board's maximum stable climbing angle of 6° validates its adaptability and use under demanding circumstances, providing a design benchmark and experimental basis for pertinent technical applications.