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Published on: February 28, 2020
Swimming Performance of the Frog-Inspired Soft Robot
Jizhuang Fan1, Shuqi Wang1, Qingguo Yu1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Abstract:
This article presents a frog-inspired swimming soft robot whose joints are articulated pneumatic soft actuators. The soft actuator is designed and prepared by studying the biological structure and limb movement characteristics of frogs. A schematic limb motion diagram of the robot is established based on the kinematic model, and the design scheme is determined by a combined control system. The torso size is 0.175 × 0.100 × 0.060 m, which realizes frog-inspired swimming robot miniaturization. The experimental results show that the average propulsion speed during linear motion is 0.075 m/s, and the average turning speed is 15°/s. The rationality of the robot structural design and correctness of the control system are verified by prototype experiments.
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