Copebot: Underwater Soft Robot with Copepod-Like Locomotion.

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Zhiguo He, Yang Yang, Pengcheng Jiao, Haipeng Wang, Guanzheng Lin, Thomas Pähtz
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引用次数: 9

Abstract

It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely fast escape responses when a predator is sensed by performing explosive curved jumps. In this study, we present a design and build prototypes of a combustion-driven underwater soft robot, the "copebot," which, similar to copepods, is able to accurately reach nearby predefined locations in space within a single curved jump. Because of an improved thrust force transmission unit, causing a large initial acceleration peak (850 body length·s-2), the copebot is eight times faster than previous combustion-driven underwater soft robots, while able to perform a complete 360° rotation during the jump. Thrusts generated by the copebot are tested to quantitatively determine the actuation performance, and parametric studies are conducted to investigate the sensitivity of the kinematic performance of the copebot to the input parameters. We demonstrate the utility of our design by building a prototype that rapidly jumps out of the water, accurately lands on its feet on a small platform, wirelessly transmits data, and jumps back into the water. Our copebot design opens the way toward high-performance biomimetic robots for multifunctional applications.

Copebot:具有桡足类运动的水下软体机器人。
开发能够以高速和高精度同时执行复杂运动模式的机器人是一项巨大的挑战。桡足类动物是生活在淡水和咸水栖息地的动物,当捕食者被察觉时,它们可以通过爆发力的弯曲跳跃来做出极其快速的逃跑反应。在这项研究中,我们设计并制造了一种燃烧驱动的水下软机器人“copebot”的原型,它与桡足类动物类似,能够在一次弯曲的跳跃中准确地到达空间中附近的预定位置。由于改进了推力传输单元,可以产生较大的初始加速度峰值(850体长·s-2), copebot的速度是以前的燃烧驱动水下软机器人的8倍,同时能够在跳跃过程中完成360°旋转。对copebot产生的推力进行了测试,定量确定了copebot的驱动性能,并进行了参数研究,研究了copebot的运动性能对输入参数的敏感性。我们通过构建一个原型来展示我们设计的实用性,该原型可以快速跳出水面,准确地将脚落在一个小平台上,无线传输数据,然后跳回水中。我们的copebot设计为多功能高性能仿生机器人开辟了道路。
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来源期刊
Soft Robotics
Soft Robotics ROBOTICS-
CiteScore
15.50
自引率
5.10%
发文量
128
期刊介绍: Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
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