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Design and realization of a low-drive bionic frog robot
Yichen Chu1, Yahui Wang1, Mingzheng Bao1
1School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, People's Republic of China.
Bioinspiration & Biomimetics
|August 2, 2025
Summary
This study introduces a bionic frog robot with an underdriven mechanism for efficient underwater locomotion. Its design enables stable swimming and minimal environmental disturbance, enhancing endurance for aquatic applications.
Area of Science:
- Robotics
- Biomimetics
- Mechanical Engineering
Background:
- Frogs exhibit efficient locomotion in aquatic environments.
- Bionic robots can mimic biological functions for enhanced performance.
- Underwater robots require stable movement and minimal disturbance.
Purpose of the Study:
- To design and fabricate a compact, underdriven bionic frog robot.
- To mimic frog swimming using an 8-bar linkage mechanism.
- To enhance underwater locomotion and environmental stability.
Main Methods:
- Developed an underdriven associative 8-bar linkage for hind legs.
- Integrated a single motor drive for swimming motion.
- Designed a bionic shell with adjustable buoyancy and three sealed chambers for control, power, and center-of-gravity adjustment.
- Utilized an E30-170T27D transceiver for wireless communication and a Tensilica Xtensa LX6 microprocessor for control.
Main Results:
- Achieved stable autonomous swimming and 3D longitudinal movement.
- Demonstrated independent control of hind legs and center-of-gravity adjustment.
- Attained an average speed of 100 mm/s.
- Minimized water environment perturbations due to low-drive, bionic, and compact design.
Conclusions:
- The bionic frog robot offers stable underwater movement and extended endurance.
- The underdriven mechanism provides a theoretical foundation for future bionic underwater robots.
- The robot's design minimizes environmental impact, suitable for sensitive aquatic measurements.
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