水下无肢机器人通过波浪式推进实现复杂环境自主航行
AquaMILR+: Design of an untethered limbless robot for complex aquatic terrain navigation
- 仿鳗鱼肌骨结构设计波浪推进，提升避障机动性
- 集成注射器与伸缩螺杆系统，实现深度与俯仰精准控制
- 适合深海探测、搜救等复杂水下任务，实测表现优异
本文提出AquaMILR+，一种无需缆线的无肢水下机器人，专为复杂水下环境中的敏捷导航而设计。该机器人采用双侧驱动机制，模仿多种鳗形游泳生物的肌骨驱动方式，通过头部至尾部传播的波动实现开放流体中的波浪式游动。该驱动机制融入机械智能，增强与障碍物交互时的灵活性。此外，其紧凑型深度控制系统受鳗鱼和海蛇的鳔与肺结构启发，由注射器与伸缩螺杆驱动，实现多数鳗形机器人难以达到的深度与俯仰控制能力。附加的鳍片与尾部结构进一步提升了稳定性与推进效率。在开阔水域及室内二维、三维异质水下环境中的测试验证了AquaMILR+的能力，表明其在搜救与深海探测等复杂水下任务中具有广阔应用前景。
原文摘要 · Abstract (English)
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail allowing open fluid undulatory swimming. This actuation mechanism employs mechanical intelligence, enhancing the robot's maneuverability when interacting with obstacles. AquaMILR+ also includes a compact depth control system inspired by the swim bladder and lung structures of eels and sea snakes. The mechanism, driven by a syringe and telescoping leadscrew, enables depth and pitch control-capabilities that are difficult for most anguilliform swimming robots to achieve. Additional structures, such as fins and a tail, further improve stability and propulsion efficiency. Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration.
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