Structure design and coordinated motion analysis of bionic crocodile robot  

作　　者：Jun Wang Jingya Zheng Yuhang Zhao Kai Yang 

机构地区：[1]School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221116,China

出　　处：《Biomimetic Intelligence & Robotics》2024年第2期50-62,共13页仿生智能与机器人（英文）

基　　金：supported by the Graduate Reaearch and Innovation Projects of Jiangsu Province(KYCX21_2251).

摘　　要：Crocodiles,one of the oldest and most resilient species on Earth,have demonstrated remarkable locomotor abilities both on land and in water,evolving over millennia to adapt to diverse environ-ments.In this study,we draw inspiration from crocodiles and design a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk joints.This design is based on comprehensive analysis of the structural and motion characteristics of real crocodiles.The bionic crocodile robot has a problem of limb-torso incoordination during movement.To solve this problem,we used the D-H method for both forward and inverse kinematics analysis of the robot's legs and spine.Through a series of simulation experiments,we investigated the robot's motion stability,fault tolerance,and adaptability to environments in two motor patterns:with and without spine and tail movements.The experimental results show that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the extremities.This study not only demonstrates the potential of biomimicry in robotics but also underscores the significance of understanding how nature's designs can inform and enhance technological innovations.

关 键 词：Bionic crocodile robot Kinematic modeling Motion simulation Multipart coordination 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]