Research on soft robots and swimming robots has been widely reported and demonstrated. However, none of these soft swimming robots can swim flexibly and efficiently using legs, just like a frog. This paper demonstrates a self-contained, untethered swimming robotic frog actuated by 12 pneumatic soft actuators, which can swim in the water for dozens of minutes by mimicking the paddling gait of the natural frog. We designed two kinds of pneumatic soft actuators as the joints on the robotic frog’s legs, which allows the legs to be lighter and more compact. It is found that such soft actuators have great potential in developing amphibious bionic robots, because they are fast-responding, inherently watertight and simple in structural design. The kinematic analysis in swimming locomotion was conducted for the prototype robotic frog, and the locomotion trajectory of each leg was planned based on the analysis of the paddling gait of frogs. Combined with the deformation model of the soft ...

中文翻译：

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基于气动软执行器的仿生游泳机器人青蛙。

软体机器人和游泳机器人的研究已被广泛报道和论证。然而，这些柔软的游泳机器人都不能像青蛙一样灵活有效地用腿游泳。本文展示了一种由 12 个气动软执行器驱动的自给自足、不受束缚的游泳机器人青蛙，它可以通过模仿天然青蛙的划桨步态在水中游泳数十分钟。我们设计了两种气动软执行器作为机器人青蛙腿上的关节，使腿更轻更紧凑。研究发现，这种软执行器在开发两栖仿生机器人方面具有巨大潜力，因为它们响应速度快、天生不漏水且结构设计简单。对原型机器人青蛙进行了游泳运动的运动学分析，并在分析青蛙划桨步态的基础上规划出每条腿的运动轨迹。结合软...