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Underwater Crawling Robot With Hydraulic Soft Actuators.

Qinlin Tan1, Yishan Chen1, Jianhui Liu1

  • 1Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China.

Frontiers in Robotics and AI
|September 13, 2021
PubMed
Summary

This study introduces a novel hybrid rigid-soft underwater crawling robot. The design overcomes soft robot limitations, enabling precise locomotion and high payload capacity for benthic operations.

Keywords:
crawling robothydraulic actuationsoft roboticsunderwater robotuntethered robot

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Area of Science:

  • Robotics
  • Marine Engineering
  • Materials Science

Background:

  • Benthic operations require robust underwater robots.
  • Soft robots offer advantages in unstructured environments but lack rigidity and precision.
  • Existing soft robots are limited to manipulation, not locomotion.

Purpose of the Study:

  • To design a soft-robotic underwater crawling robot with enhanced locomotion capabilities.
  • To address the limitations of soft actuators in terms of rigidity, precision, and force exertion.
  • To develop a novel actuation system for untethered underwater operation.

Main Methods:

  • Integrating rigid components to reinforce soft actuators, improving loading capacity and precision.
  • Developing a rigid-soft hybrid multi-joint leg for controlled motion and passive compliance.
  • Implementing a valve-free hydraulic actuation system using peristaltic pumps.

Main Results:

  • A prototype underwater crawling robot with a 5:1 payload-to-weight ratio was developed.
  • The hybrid design achieved quasi-linear motion and enhanced force exertion.
  • The robot demonstrated multi-gait capability and untethered operation.

Conclusions:

  • The proposed hybrid rigid-soft design effectively overcomes the limitations of traditional soft robots for underwater locomotion.
  • The novel actuation system enables compact, lightweight, and high-performance untethered crawling robots.
  • This approach advances the development of mobile robotic platforms for benthic exploration and operation.