Biomimetic Underwater Soft Snake Robot: Self-Motion Sensing and Online Gait Control

IF 10.5 1区计算机科学 Q1 ROBOTICS IEEE Transactions on Robotics Pub Date : 2025-01-15 DOI:10.1109/TRO.2025.3530349

Hang Shi;Yali Meng;Wenlong Cui;Meng Rao;Shuting Wang;Yangmin Xie

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Abstract

This study draws inspiration from the locomotion and adaptability of aquatic snakes to develop an innovative soft-bodied, hydraulic-driven untethered underwater snake robot “BaiLong.” The robot consists of a segmented soft structure and embeds actuation, control, and power modules in the head. Featuring the self-shape perception capability, it leverages an online iterative learning control method to effectively mitigate body shape deformation errors and attain precise gait movements. As a result, the soft robot has achieved movements emulating the serpentine motion of real snakes with locomotion consistency equivalent to rigid robots. Extensive experiments in both artificial and natural aquatic environments have presented improved swimming speed among soft snakes with promising turning agility, and revealed the gait parameter influence on the linear velocity described by a near-constant Strouhal number. The reported investigation sufficiently demonstrates the swimming feasibility and performance of underwater soft snake robots and significantly advances their capabilities for long-range applications.

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仿生水下软蛇机器人：自运动传感与在线步态控制

本研究从水生蛇的运动和适应性中获得灵感，开发了一种创新的软体、液压驱动的无系绳水下蛇机器人“白龙”。该机器人由分段软结构组成，在头部嵌入了驱动、控制和电源模块。它具有自我形状感知能力，利用在线迭代学习控制方法，有效地减轻了身体形状变形误差，实现了精确的步态运动。因此，软体机器人可以模拟真实蛇的蛇形运动，运动一致性相当于刚性机器人。在人工和自然水生环境中进行的大量实验表明，软蛇的游动速度有所提高，并且具有良好的转向敏捷性，并揭示了步态参数对近似常数Strouhal数描述的线速度的影响。报告的研究充分证明了水下软蛇机器人的游泳可行性和性能，并显着提高了其远程应用能力。

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来源期刊

IEEE Transactions on Robotics 工程技术-机器人学

CiteScore

14.90

自引率

5.10%

发文量

259

审稿时长

6.0 months

期刊介绍： The IEEE Transactions on Robotics (T-RO) is dedicated to publishing fundamental papers covering all facets of robotics, drawing on interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, and beyond. From industrial applications to service and personal assistants, surgical operations to space, underwater, and remote exploration, robots and intelligent machines play pivotal roles across various domains, including entertainment, safety, search and rescue, military applications, agriculture, and intelligent vehicles. Special emphasis is placed on intelligent machines and systems designed for unstructured environments, where a significant portion of the environment remains unknown and beyond direct sensing or control.