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Seeker-M: A bionic mantis shrimp robot with an adjustable-mass flexible spine
Yidong Xu1, Gang Chen1,2,3, Chenguang Yang4
1School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, People's Republic of China.
Bioinspiration & Biomimetics
|July 22, 2025
Summary
This study introduces Seeker-M, an underwater robot inspired by mantis shrimp, featuring a flexible spine for enhanced maneuverability. The linear active disturbance rejection control (LADRC) algorithm ensures stable attitude control in complex underwater environments.
Area of Science:
- Robotics
- Biomimetics
- Control Systems
Background:
- Underwater robots require enhanced motion flexibility and environmental adaptability.
- Existing designs often lack the agility needed for complex aquatic terrains.
Purpose of the Study:
- To propose a novel underwater robot design, Seeker-M, mimicking the mantis shrimp's locomotion.
- To develop and validate an effective attitude control system for the robot.
Main Methods:
- The Seeker-M robot incorporates a multifunctional flexible spine with active bending and dynamic center of gravity adjustment.
- A pitch control system utilizing the linear active disturbance rejection control (LADRC) algorithm was implemented.
Main Results:
- The robot demonstrated multi-modal locomotion ability inspired by the mantis shrimp.
- Experimental results confirmed the LADRC algorithm's capability to maintain robust attitude stability despite pleopod motion disturbances.
Conclusions:
- The Seeker-M design offers improved motion flexibility and environmental adaptability for underwater robots.
- The LADRC algorithm provides an effective solution for underwater attitude control in challenging environments.
