統合された歩行および遊泳モードを備えたタコに触発されたソフト水中ロボットの設計と実験的研究

To enhance the flexibility and adaptability of underwater robots in complex environments, this paper designs an octopus-inspired soft underwater robot capable of both bipedal walking and multi-arm swimming. The robot features a rigid-flexible coupling structure consisting of a head module and eight rope-driven soft tentacles and integrates buoyancy adjustment and center-of-gravity balancing systems to achieve stable posture control in both motion modes. Based on the octopus's bipedal walking and multi-arm swimming mechanisms, this study formulates gait generation strategies for each mode. In walking mode, the robot achieves underwater linear movement, turning, and in-place rotation through coordinated tentacle actuation; in swimming mode, flexible three-dimensional propulsion is realized via synchronous undulatory gaits. Experimental results demonstrate the robot's peak thrust of 14.1 N, average swimming speed of 8.6 cm/s, and maximum speed of 15.1 cm/s, validating the effectiveness of the proposed structure and motion control strategies. This research platform offers a promising solution for adaptive movement and exploration in unstructured underwater environments.