首页|An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp
An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp
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In developing and exploring extreme and harsh underwater environments,underwater robots can effectively replace humans to complete tasks.To meet the requirements of underwater flexible motion and comprehensive subsea operation,a novel octopus-inspired robot with eight soft limbs was designed and developed.This robot possesses the capabilities of underwater bipedal walking,multi-arm swimming,and grasping objects.To 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 mode.The 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 flexibility.Furthermore,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 walking.Through 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.
School of Automation,Hangzhou Dianzi University,Hangzhou 310018,China
International Joint Research Laboratory for Autonomous Robotic Systems,Hangzhou 310018,China
Institute of Hydrodynamics and Control Processes Sankt-Petersburg,Saint Petersburg State Marine Technical University,Sankt-Petersburg,Russia
GEELY Automotive Institute,Hangzhou Vocational and Technical College,Hangzhou 310018,China
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Hy Action Plan ProjectKey Projects of Science and Technology Plan of Zhejiang ProvinceMinistry of Science and Higher Education of the Russian Federation as part of the Worldclass Research Center program:Advance
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