ラッチ機構を備えたソフト双安定構造による生体模倣水中ロボット
A Bioinspired Underwater Robot with a Latch-Mediated Soft Bistable Mechanism
ラッチ機構を統合したソフト双安定アクチュエータを単一モーターで駆動し、非対称なエネルギー入出力を実現して効率的な水中推進と操縦を可能にする小型水中ロボットを提案した。
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著者: Chongze Bi, Wenjie Wu, Zonghao Zuo, Li Wen
分類: cs.RO
原文アブストラクト
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling solutions-organisms like mantis shrimps and fleas utilize latch-mediated spring actuation (LaMSA) systems that achieve rapid movements through a decoupled energy storage and release mechanism. Despite extensive studies of LaMSA, replicating such rapid, asymmetric actuation within simple, compact structures remains challenging. In this work, we introduce a bioinspired, soft bistable actuator with an integrated latch mechanism that enables asymmetric energy input and release using a single motor. Coupled with fin structures, this design facilitates efficient underwater propulsion and maneuverability. Experimental results demonstrate stable periodic flapping, precise steering, and a maximum thrust of 0.528 N, impulse of 0.147 Ns, and vertical displacement of 30 mm. By modulating fin angles, the robot achieves versatile motions, including vertical ascent, diagonal forward movement, and lateral translation. This study presents a novel, energy-efficient approach for controlling motion in compact underwater robots, paving the way for advanced biomimetic designs with potential applications in exploration, environmental monitoring, and inspection.
