The Walking Control of a Crab Biorobot in Amphibious Environment.

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-02-29 DOI:10.1089/soro.2023.0033
Kazuki Kai, Huu Duoc Nguyen, Wei Yang Wan, Hirotaka Sato
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Abstract

This article describes development of a crab biorobot that is capable of traversing diverse environments including both land and water. We have transformed a living rainbow crab into a walking biorobot by attaching wireless controller. An anatomical and physiological investigation revealed the rainbow crabs have sensory system on the carapace. Based on this finding, we implanted electrodes into the carapace. The walking direction of the robot is controlled through electrical stimulation provided by the controller. Depending on this site, the crab biorobot is induced to walk forward, leftward, and rightward in both terrestrial and underwater conditions. There is no significant difference in the mean walking direction between the two conditions. Smooth transition from land to water of the crab biorobot further demonstrates the adaptability to amphibious environment. This biorobot is compact, measuring 5 cm in carapace and weighing 50 g including the wireless controller. The crab biorobot in this scale has a potential for application narrow and unstructured in waterfront environments.

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螃蟹生物机器人在两栖环境中的行走控制
本文介绍了螃蟹生物机器人的开发过程,该机器人能够在包括陆地和水域在内的各种环境中穿行。我们通过安装无线控制器,将一只活体彩虹蟹改造成了一个可行走的生物机器人。解剖学和生理学调查显示,彩虹蟹的甲壳上有感知系统。基于这一发现,我们将电极植入蟹体。通过控制器提供的电刺激来控制机器人的行走方向。根据这个部位,螃蟹生物机器人在陆地和水下条件下都会被诱导向前、向左和向右行走。两种情况下的平均行走方向没有明显差异。螃蟹生物机器人从陆地到水中的平稳过渡进一步证明了其对两栖环境的适应性。该生物机器人结构紧凑,躯壳长 5 厘米,包括无线控制器在内重 50 克。这种规模的螃蟹生物机器人有望应用于狭窄和无结构的海滨环境。
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