A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus.
Bioinspir Biomim
; 16(4)2021 06 04.
Article
em En
| MEDLINE
| ID: mdl-33836505
ABSTRACT
In order to increase the compatibility between underwater robots and the underwater environment and inspired by the coconut octopus's underwater bipedal walking, a method was proposed for bipedal walking for an underwater soft robot based on a spring-loaded inverted pendulum (SLIP) model. Using the characteristics of octopus tentacles rolling on the ground, a wrist arm was designed using the cable-driven method, and an underwater SLIP bipedal walking model was established, which makes an underwater soft robot more suitable for moving on uneven ground. An underwater bipedal walking soft robot based on coconut octopus was then designed, and a machine vision algorithm was used to extract the motion information for analysis. Experimental analysis shows that the underwater bipedal walking robot can achieve an average speed of 6.48 cm s-1, and the maximum instantaneous speed can reach 8.14 cm s-1.
Palavras-chave
Texto completo:
1
Base de dados:
MEDLINE
Assunto principal:
Robótica
/
Octopodiformes
Tipo de estudo:
Prognostic_studies
Limite:
Animals
Idioma:
En
Ano de publicação:
2021
Tipo de documento:
Article