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.

中文翻译：

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受青蛙启发的软体机器人的游泳性能。

本文介绍了一种受青蛙启发的游泳软机器人，其关节是关节式气动软执行器。该软致动器是通过研究青蛙的生物结构和肢体运动特性而设计和制备的。基于运动学模型建立了机器人肢体运动示意图，并通过组合控制系统确定了设计方案。躯干尺寸为 0.175 × 0.100 × 0.060 m，实现了仿青蛙游泳机器人的小型化。实验结果表明，直线运动时的平均推进速度为0.075 m/s，平均转弯速度为15°/s。通过样机实验验证了机器人结构设计的合理性和控制系统的正确性。