This paper presents a frog-inspired swimming robot based on articulated pneumatic soft actuator. To realize the miniaturization of the robot and enhance its environmental adaptability, combined with the advantages and characteristics of soft materials, an articulated pneumatic soft actuator is designed based on analysis of a frog’s propulsion characteristics. A structural model is established to analyse the mechanical properties of the soft actuator. With the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot, the motion trajectories of each joint of the robot are planned. Based on the trajectory planning, the control strategy of the soft actuator is determined to realize the frog-like swimming of the robot. The torso size after assembly is 0.175 m × 0.100 m × 0.060 m, which realizes the miniaturization of the frog-inspired robot. During the movement of the robot, the torso moves stably and flexibly, and can realize continuous linear and turning movements. The rationality of the structure and trajectory planning are verified by prototype experiments.

中文翻译：

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基于关节气动软执行器的蛙式游泳机器人的实验研究

本文提出了一种基于铰接式气动软执行器的蛙式游泳机器人。为了实现机器人的小型化并提高其环境适应性，并结合软材料的优点和特性，基于对青蛙推进特性的分析，设计了一种铰接式气动软执行器。建立结构模型以分析软致动器的机械性能。为了充分利用致动器的驱动扭矩并提高机器人的推进效率，计划了机器人的每个关节的运动轨迹。基于轨迹规划，确定了软执行器的控制策略，以实现机器人的蛙式游泳。组装后的躯干尺寸为0.175 m×0.100 m×0.060 m，实现了蛙式机器人的小型化。在机器人运动过程中，躯干稳定灵活地运动，可以实现连续的线性和转弯运动。通过原型实验验证了结构和轨迹规划的合理性。