仿八腕章鱼机器人用两电机实现高效游动，突破传统设计复杂性瓶颈。
Octopus-Swimming-Like Robot with Soft Asymmetric Arms
- 采用非对称被动变形臂+伞状回弹机构，仅用两个电机驱动
- 峰值速度达314 mm/s，第二动力冲程表现最佳
- 适合生物与机器人学交叉研究，降低仿生系统研发门槛
过去七十年间，水下航行器发展迅速，但仿生推进机器人仍处于初期阶段，亟需生物学家与机器人学家更深度协作。章鱼作为海洋中最聪明的动物之一，能通过手臂实现伪装、探索和捕猎，同时在游泳中灵活运用八条臂。尽管科研人员长期致力于模仿这些能力，但设计八臂仿生游泳平台的复杂性始终是难题。本文提出一种新型仿生游泳平台，结合非对称被动形变臂与伞状快速回弹机构，仅使用两个恒定转速电机，便实现了类章鱼臂运动与搏动时间比。实验中，该机器人在第二次动力冲程达到314 mm/s的峰值速度。此设计显著降低了传统章鱼式游泳机器人的驱动复杂度，同时保持优异游动性能，为生物学家与机器人学家开展更深入的章鱼仿生研究提供了更可行、高效的平台。
原文摘要 · Abstract (English)
Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and roboticists. The octopus, one of the most intelligent marine animals, exhibits remarkable abilities such as camouflaging, exploring, and hunting while swimming with its arms. Although bio-inspired robotics researchers have aimed to replicate these abilities, the complexity of designing an eight-arm bionic swimming platform has posed challenges from the beginning. In this work, we propose a novel bionic robot swimming platform that combines asymmetric passive morphing arms with an umbrella-like quick-return mechanism. Using only two simple constant-speed motors, this design achieves efficient swimming by replicating octopus-like arm movements and stroke time ratios. The robot reached a peak speed of 314 mm/s during its second power stroke. This design reduces the complexity of traditional octopus-like swimming robot actuation systems while maintaining good swimming performance. It offers a more achievable and efficient platform for biologists and roboticists conducting more profound octopus-inspired robotic and biological studies.
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