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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.
Soft Robotics
|May 14, 2020
Summary
This study introduces a miniaturized, frog-inspired soft robot capable of swimming. Utilizing pneumatic actuators mimicking frog legs, the robot achieves efficient propulsion and turning, validated by experiments.
Area of Science:
- Robotics
- Bio-inspired Engineering
- Soft Actuators
Background:
- Robotic systems often struggle with complex aquatic environments.
- Mimicking biological locomotion, like that of frogs, offers a promising approach for underwater robots.
Purpose of the Study:
- To design and develop a miniaturized, frog-inspired swimming soft robot.
- To investigate the effectiveness of pneumatic soft actuators for robotic locomotion.
Main Methods:
- Studying frog anatomy and limb movement for bio-mimicry.
- Developing articulated pneumatic soft actuators for robot joints.
- Establishing a kinematic model and combined control system for motion.
- Miniaturizing the robot torso to 0.175 × 0.100 × 0.060 m.
Main Results:
- The soft robot achieved an average linear propulsion speed of 0.075 m/s.
- The robot demonstrated an average turning speed of 15°/s.
- Prototype experiments verified the design and control system's efficacy.
Conclusions:
- The frog-inspired soft robot design is rational and effective for aquatic locomotion.
- Pneumatic soft actuators provide a viable mechanism for bio-inspired robotic movement.
- The miniaturized robot shows potential for various underwater applications.
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