Robot

Control (management)

Engineering

Propulsion

Aerospace engineering

Soft robotics

Torso

Control engineering

Actuator

Computer science

Classical mechanics

Bionics

Physics

Motion control

Simulation

Anatomy

Miniaturization

Artificial intelligence

Kinematics

Medicine

Schematic

Control theory (sociology)

Electrical engineering

Soft Robotics

This article presents a frog-inspired swimming soft robot whose joints are articulated pneumatic soft actuators. The soft actuator is designed and prepared by studying the biological structure and limb movement characteristics of frogs. A schematic limb motion diagram of the robot is established based on the kinematic model, and the design scheme is determined by a combined control system. The torso size is 0.175 × 0.100 × 0.060 m, which realizes frog-inspired swimming robot miniaturization. The experimental results show that the average propulsion speed during linear motion is 0.075 m/s, and the average turning speed is 15°/s. The rationality of the robot structural design and correctness of the control system are verified by prototype experiments.

Swimming Performance of the Frog-Inspired Soft Robot