Xu Yidong, Chen Gang, Yang Chenguang, Wu Chuanyu, Hu Huosheng
School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, People's Republic of China.
School of Computer Science and Electronic Engineering, University of Essex, Colchester CO4 3SQ, United Kingdom.
Bioinspir Biomim. 2025 Aug 5;20(5). doi: 10.1088/1748-3190/adf2ea.
To enhance the motion flexibility and environmental adaptability of underwater robots, this study proposes a novel design, Seeker-M, inspired by the locomotion mechanism of the mantis shrimp. The robot imitates the mantis shrimp's multi-pleopod swimming mode and has multi-modal locomotion ability. The robot features a multifunctional flexible spine capable of active bending (maximum angle of 30°) and dynamic center of gravity adjustment (up to 30% of body length). A pitch control system is developed based on this adjustable structure, employing the linear active disturbance rejection control (LADRC) algorithm. Experimental results demonstrate that the LADRC algorithm maintains robust attitude stability under disturbances from pleopod motion, offering an effective approach for underwater attitude control in complex environments.
为提高水下机器人的运动灵活性和环境适应性，本研究提出了一种受螳螂虾运动机制启发的新颖设计——探索者-M。该机器人模仿螳螂虾的多腹足游泳模式，具有多模态运动能力。它具有一个多功能柔性脊柱，能够主动弯曲（最大角度为30°）并动态调整重心（可达体长的30%）。基于这种可调节结构开发了一种俯仰控制系统，采用线性自抗扰控制（LADRC）算法。实验结果表明，LADRC算法在腹足运动干扰下保持了强大的姿态稳定性，为复杂环境下的水下姿态控制提供了一种有效方法。
