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寻求者-M:一个生物神灵机器人,具有可调节质量的灵活脊柱

Yidong Xu¹, Gang Chen^1,2,3, Chenguang Yang⁴

¹School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, People's Republic of China.

Bioinspiration & biomimetics

|July 22, 2025

概括

这项研究介绍了Seeker-M,这是一款灵感来自神灵的水下机器人,具有灵活的脊柱,可提高机动性. 线性主动干扰排斥控制 (LADRC) 算法确保在复杂的水下环境中稳定地控制态度.

科学领域:

机器人技术机器人技术机器人技术
生物模拟学是一种生物模拟学.
控制系统控制系统

背景情况:

水下机器人需要提高运动灵活性和环境适应性.
现有的设计往往缺乏复杂水生地形所需的敏捷性.

研究的目的:

提出了一种新的水下机器人设计,Seeker-M,模仿神灵的运动.
为机器人开发和验证一个有效的态度控制系统.

主要方法:

寻求者-M机器人采用多功能柔性脊柱,具有活跃曲和动态重心调节.
采用线性主动干扰排斥控制 (LADRC) 算法实现了一个调度控制系统.

主要成果:

机器人展示了灵感来自神灵的多模式移动能力.
实验结果证实了LADRC算法能够保持强大的姿态稳定性,尽管有足动物运动干扰.

结论:

寻求者-M设计为水下机器人提供了更好的运动灵活性和环境适应性.
在具有挑战性的环境中,LADRC算法为水下态度控制提供了有效的解决方案.

关键词:

仿生灵神机器人机器人重力中心调整调整.灵活的脊柱灵活的脊柱有绳索驱动的驱动器.

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