Tail passive variable form bionic tadpole robot and its motion realization method

Abstract

The invention discloses a bionic tadpole robot with a passively modified tail and a motion realization method thereof, belonging to the technical field of bionic robots. The bionic tadpole robot includes a head and a tail, and the head is provided with a driving mechanism for driving the head to move upward or downward ; The tail part includes two symmetrically arranged flexible ornaments, which can rotate around the center of the head and rotate at a certain angle according to the change of the robot's motion state. Using the driving mechanism of the head of the bionic tadpole robot as the power, the upward or downward vertical movement of the head drives the flexible ornament to move upward or downward, and at the same time, the flexible ornament interacts with water to generate passive deformation to generate the horizontal driving force for the robot to move forward. At the same time, different motion forms of the robot can be realized by changing the relative angles of the two flexible ornaments, the motion modes of the robot are greatly increased, and the scope of application is wider.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a bionic tadpole robot with a passively deformed tail and a motion realization method thereof. Background technique [0002] Biomimetic robot is the product of the combination of bionics and robotics. It uses the structure, properties, principles, behavior and interaction of biological systems to inspire and guide the development of robots. It is a comprehensive robot system including mechanical, electrical, optical and other components. It not only embodies the morphological characteristics of creatures in terms of motion mechanism and perception mode, but also can accurately and efficiently complete specific complex tasks in unknown environments. Therefore, carrying out research in the field of bionic robots will greatly improve the ability of human beings to use technology to transform nature, and bring huge economic benefits to the development of human society. With th...

AI Technical Summary

Problems solved by technology

[0004] Existing bionic tadpole robots are mainly composed of a head and a flexible tail, such as a bionic tadpole robot disclosed in the Chinese patent document CN106787936A, and a bionic tadpole based on IPMC driven by the Chinese patent document CN108820176A. The disadvantage of the device and its driving method is that the existing bionic tadpole robots almost all adopt the single power driving mode of tail swing, which can realize less motion functions.

When the robot is entangled by fishing nets and aquatic plants at the tail end of the external operation, it will not work normally because the robot has no other power source

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