A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus.

Journal: Bioinspiration & biomimetics
Published Date: Jun 4, 2021

Abstract

In order to increase the compatibility between underwater robots and the underwater environment and inspired by the coconut octopus's underwater bipedal walking, a method was proposed for bipedal walking for an underwater soft robot based on a spring-loaded inverted pendulum (SLIP) model. Using the characteristics of octopus tentacles rolling on the ground, a wrist arm was designed using the cable-driven method, and an underwater SLIP bipedal walking model was established, which makes an underwater soft robot more suitable for moving on uneven ground. An underwater bipedal walking soft robot based on coconut octopus was then designed, and a machine vision algorithm was used to extract the motion information for analysis. Experimental analysis shows that the underwater bipedal walking robot can achieve an average speed of 6.48 cm s, and the maximum instantaneous speed can reach 8.14 cm s.

Authors

  • Qiuxuan Wu
    Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China.
  • Xiaochen Yang
    Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China.
  • Yan Wu
    Beijing Hui-Long-Guan Hospital, Peking University, Beijing, 100096, China.
  • Zhijun Zhou
    Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China.
  • Jian Wang
    Veterinary Diagnostic Center, Shanghai Animal Disease Control Center, Shanghai, China.
  • Botao Zhang
    Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China.
  • Yanbin Luo
    Institute of Electrical Engineering, School of Automation, Hangzhou Dianzi University, Hangzhou, People's Republic of China.
  • Sergey A Chepinskiy
    Faculty of Control Systems and Robotics, ITMO University, St. Petersburg, Russia.
  • Anton A Zhilenkov
    Institute of Hydrodynamics and Control Processes, Saint-Petersburg State Marine Technical University, Russia.

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