液压与气动2025，Vol.49Issue(2)：118-127,10.DOI:10.11832/j.issn.1000-4858.2025.02.013
一种仿乌龟的气动软体四足机器人设计与实现
Design and Implementation of a Turtle-like Pneumatic Soft Quadruped Robot
摘要
Abstract
To address the challenges of gait control in obstacle crossing and crawling for pneumatic biomimetic robots,this paper designs a four-legged pneumatic soft crawling robot modeled after the red-eared slider turtle.The robot consists of four two-segment pneu-net actuator,which mimic the structure and movement of turtle legs.Finite element analysis is conducted to optimize the structural parameters of the soft actuators.Performance tests are carried out on a single leg under different timing control conditions.The robot's mobility performance is tested in straight-line crawling,turning,and obstacle crossing scenarios.The results show that the soft robot exhibits excellent adaptability and stability,with a maximum straight-line crawling speed of 50 mm/s,a turning speed of 45(°)/s on rigid surfaces,and the ability to cross obstacles up to 25 mm in height.Its outstanding adaptability and stability suggest significant practical application potential in fields such as search and rescue,detection,and inspection.关键词
气动软体机器人/气动网格驱动器/仿龟腿结构/障碍物跨越Key words
pneumatic soft robot/pneu-net actuator/turtle-like leg structure/obstacle-crossing分类
机械制造引用本文复制引用
吴雨昕,钟伟,李露伟,邵将,顾小玉..一种仿乌龟的气动软体四足机器人设计与实现[J].液压与气动,2025,49(2):118-127,10.基金项目
江苏高校"青蓝工程"资助(024-1024902403) （024-1024902403）
