A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus.
2021
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 model. Using the characteristics of octopus tentacles rolling on the ground, a wrist arm was designed using the cable-driven method, and an underwater spring-loaded inverted pendulum 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.
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