An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp  

作　　者：Qiuxuan Wu Liwei Pan FuLin Du ZhaoSheng Wu XiaoNi Chi FaRong Gao Jian Wang Anton A.Zhilenkov 

机构地区：[1]School of Automation,Hangzhou Dianzi University,Hangzhou,310018,China [2]International Joint Research Laboratory for Autonomous Robotic Systems,Hangzhou,310018,China [3]GEELY Automotive Institute,Hangzhou Vocational and Technical College,Hangzhou,310018,China [4]Institute of Hydrodynamics and Control Processes Sankt-Petersburg,Saint Petersburg State Marine Technical University,Sankt-Petersburg,Russia

出　　处：《Journal of Bionic Engineering》2024年第3期1223-1237,共15页仿生工程学报（英文版）

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).

摘　　要：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.

关 键 词：Underwater soft robots Underwater bipedal walking Multi-arm swimming Cable drive 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] Q811[自动化与计算机技术—控制科学与工程]