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水陆两栖仿生机器人的研究及应用

徐小军 刘博龙 潘迪博 鲁兴举

徐小军, 刘博龙, 潘迪博, 等. 水陆两栖仿生机器人的研究及应用[J]. 水下无人系统学报, 2023, 31(1): 143-151 doi: 10.11993/j.issn.2096-3920.2022-0083
引用本文: 徐小军, 刘博龙, 潘迪博, 等. 水陆两栖仿生机器人的研究及应用[J]. 水下无人系统学报, 2023, 31(1): 143-151 doi: 10.11993/j.issn.2096-3920.2022-0083
XU Xiao-jun, LIU Bo-long, PAN Di-bo, LU Xing-ju. Research and Application of Amphibious Bionic Robots[J]. Journal of Unmanned Undersea Systems, 2023, 31(1): 143-151. doi: 10.11993/j.issn.2096-3920.2022-0083
Citation: XU Xiao-jun, LIU Bo-long, PAN Di-bo, LU Xing-ju. Research and Application of Amphibious Bionic Robots[J]. Journal of Unmanned Undersea Systems, 2023, 31(1): 143-151. doi: 10.11993/j.issn.2096-3920.2022-0083

水陆两栖仿生机器人的研究及应用

doi: 10.11993/j.issn.2096-3920.2022-0083
详细信息
    作者简介:

    徐小军(1972-), 男, 博士, 教授, 主要研究方向为无人系统平台与动力技术

  • 中图分类号: TP242.3; TB17

Research and Application of Amphibious Bionic Robots

  • 摘要: 水陆两栖仿生机器人具备水陆多工况下的运动能力, 能够更好地完成复杂地形环境下的作业任务。文中概述了水陆两栖仿生机器人的发展背景、研究现状及主要应用。根据仿生借鉴程度的不同, 将两栖仿生机器人分为模仿运动模式类和模仿运动结构类, 分别介绍了国内外相关研究进展、分析了不同类型机器人的特点,阐述了水陆两栖仿生机器人的技术优势和典型应用场景。

     

  • 图  1  仿蛇形机器人法向力分布

    Figure  1.  Normal force distribution of snake-like robot

    图  2  ACM-Ⅲ仿蛇形机器人

    Figure  2.  ACM-III snake-like robot

    图  3  ACM-R5仿蛇形两栖机器人

    Figure  3.  ACM-R5 amphibious snake-like robot

    图  4  AmphiBot仿蛇形两栖机器人

    Figure  4.  AmphiBot amphibious snake-like robot

    图  5  国防科技大学仿蛇形两栖机器人

    Figure  5.  Amphibious snake-like robot of National University of Defense Technology

    图  6  北京理工大学仿蛇形两栖机器人

    Figure  6.  Amphibious snake-like robot of Beijing Institute of Technology

    图  7  Perambulator仿蛇形两栖机器人

    Figure  7.  Perambulator amphibious snake-like robot

    图  8  北京理工大学FroBot两栖机器人

    Figure  8.  Amphibious FroBot robot of Beijing Institute of Technology

    图  9  FroBot两栖机器人陆上运动受力分析

    Figure  9.  Force analysis of FroBot on land motion

    图  10  FroBot两栖机器人水中运动受力分析

    Figure  10.  Force analysis of the FroBot in water motion

    图  11  哈尔滨工业大学仿青蛙机器人

    Figure  11.  Bionic frog robot of Harbin Institute of Tech- nology

    图  12  两栖仿生龟ART

    Figure  12.  Amphibious turtle robot ART

    图  13  仿生两栖爬行机器人

    Figure  13.  Amphibious bionic crawling robots

    图  14  足桨式多模态两栖机器人

    Figure  14.  Foot-propeller multimode amphibious robot

    图  15  轮-桨-腿一体化两栖机器人

    Figure  15.  Wheel-propeller-leg amphibious robot

    图  16  变构型两栖仿生机器人

    Figure  16.  Variant configuration amphibious bionic robot

    图  17  Velox两栖机器人

    Figure  17.  Velox amphibious robot

    图  18  受乌龟启发的软体两栖机器人

    Figure  18.  A tortoise-inspired soft-amphibious robot

    图  19  基于McKibben驱动器的软体两栖机器人

    Figure  19.  Soft-amphibious robot using McKibben actuator

    图  20  软体两栖攀爬机器人

    Figure  20.  Soft-amphibious climbing robot

    图  21  基于形状记忆合金的软体两栖机器人

    Figure  21.  Shape memory alloy-based soft amphibious robot

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出版历程
  • 收稿日期:  2022-12-01
  • 修回日期:  2023-02-04
  • 录用日期:  2023-02-06
  • 网络出版日期:  2023-02-20

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