开发可自主控制的章鱼仿生机器人，实现三维游动与精准力矩调节。
Cuttlebot: a platform demonstration for complex, autonomous, bio-inspired swimmers
- 基于介电弹性体人工肌肉构建六轴驱动平台，支持多自由度控制。
- 章鱼机器人实测最高速度达2.5厘米/秒，旋转速度10度/秒。
- 适合深海探测、环境监测等场景，为生物启发式水下机器人提供基础平台。
深海作业与资源开发日益受关注，推动生态友好且环境耐受性强的机器人发展。介电弹性体人工肌肉因其耐压耐温、柔软特性，是理想驱动方案，但集成困难。本文提出自主机器人平台CORE，可驱动六个人工肌肉并感知视觉与空间信息。为验证平台，开发了章鱼仿生机器人Cuttlebot，通过波浪状鳍推进实现三维游动，配备四条主人工肌肉及仿触须软夹持器。在系绳与非系绳游泳测试中，其最高线速度达2.5厘米/秒，旋转速度达10度/秒。此外，CORE系统能向人工肌肉输入特制控制信号，实现六轴力与扭矩的可控输出。该工作为复杂生物启发式水下机器人提供了平台支持，以Cuttlebot为示范，奠定海洋探索与监测的技术基础。
原文摘要 · Abstract (English)
Increasing interest in deep-sea operations and resources motivates the development of ecologically sensitive but environmentally durable robots. Dielectric elastomer actuator artificial muscles are good candidates for powering such systems due to their pressure and temperature tolerance and soft makeup, but they are difficult to integrate with robotic systems. This work presents an autonomous robotic platform: the CORE, capable of driving six artificial muscles while sensing visual and spatial information. To validate the platform, we developed the Cuttlebot - a cuttlefish-inspired robot that swims in three dimensions using undulatory fin locomotion. The Cuttlebot has four primary artificial muscles in its fins in addition to a tentacle-inspired soft gripper. The robot was evaluated in a series of tethered and untethered swimming tests, demonstrating a top speed of 2.5 centimeters per second translation and 10 degrees per second rotation. Furthermore, the CORE system was capable of driving specialized control signals into the artificial muscles to controllably output force and torque in six axes. This work provides a platform for developing complex, bio-inspired swimming robots for ocean exploration and monitoring, laying the foundation with our leading example: the Cuttlebot.
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