An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp
作者机构：School of AutomationHangzhou Dianzi UniversityHangzhou310018China International Joint Research Laboratory for Autonomous Robotic SystemsHangzhou310018China GEELY Automotive InstituteHangzhou Vocational and Technical CollegeHangzhou310018China Institute of Hydrodynamics and Control Processes Sankt-PetersburgSaint Petersburg State Marine Technical UniversitySankt-PetersburgRussia
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2024年第21卷第3期
页 面：1223-1237页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 09[农学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0901[农学-作物学] 0836[工学-生物工程] 090102[农学-作物遗传育种]
基 金：provided by Hy Action Plan Project(Grant no.7172755A) the Key Projects of Science and Technology Plan of Zhejiang Province(Grant no.2019C04018) partially by the Ministry of Science and Higher Education of the Russian Federation as part of the World-class Research Center program:Advanced Digital Technologies(contract No.075-15-2022-312 dated 20.04.2022)
主 题：Underwater soft robots Underwater bipedal walking Multi-arm swimming Cable drive
摘 要：In developing and exploring extreme and harsh underwater environments,underwater robots can effectively replace humans to complete *** meet the requirements of underwater flexible motion and comprehensive subsea operation,a novel octopus-inspired robot with eight soft limbs was designed and *** robot possesses the capabilities of underwater bipedal walking,multi-arm swimming,and grasping *** closely interact with the underwater seabed environment and minimize disturbance,the robot employs a cable-driven flexible arm for its walking in underwater floor through a bipedal walking *** multi-arm swimming offers a means of three-dimensional spatial movement,allowing the robot to swiftly explore and navigate over large areas,thereby enhancing its ***,the robot’s walking arm enables it to grasp and transport objects underwater,thereby enhancing its practicality in underwater environments.A simplified motion models and gait generation strategies were proposed for two modes of robot locomotion:swimming and walking,inspired by the movement characteristics of octopus-inspired multi-arm swimming and bipedal *** experimental verification,the robot’s average speed of underwater bipedal walking reaches 7.26 cm/s,while the horizontal movement speed for multi-arm swimming is 8.6 cm/s.
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