仿鱿鱼机器人可水下灵巧操作，集成多项前沿技术
Project URSULA: Design of a Robotic Squid for Underwater Manipulation
- 仿生鱿鱼结构，采用软体机械臂与无螺旋桨推进
- 支持视频与触觉反馈的遥操作，实现水下精准控制
- 适合水下机器人研发、海洋探测及深海作业人员
本文介绍了为灵巧水下操作设计的仿生机器人鱿鱼（命名为URSULA）的开发。该机器人作为多项新型水下技术的测试平台，包括软体机械臂、无螺旋桨推进、基于模型的遥操作（含视频与触觉反馈）、声呐辅助水下地图构建、定位与导航，以及高速可见光通信。在完成详细设计后，已制造出原型机，目前正在池中进行测试。
原文摘要 · Abstract (English)
With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater technologies such as soft manipulators, propeller-less propulsion, model mediated tele-operation with video and haptic feedback, sonar-based underwater mapping, localization, and navigation, and high bandwidth visible light communications. Following the finalization of the detailed design, a prototype is manufactured and is currently undergoing pool tests.
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